Visual Servoing Platform version 3.6.0
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vpMocap.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Generic motion capture.
33 *
34*****************************************************************************/
35#ifndef vpMocap_h
36#define vpMocap_h
37
38#include <map>
39#include <string>
40
41#include <visp3/core/vpConfig.h>
42#include <visp3/core/vpHomogeneousMatrix.h>
43
49class VISP_EXPORT vpMocap
50{
51public:
55 vpMocap() : m_verbose(false), m_serverAddr(){};
59 virtual ~vpMocap(){};
60
64 virtual void close() = 0;
65
71 virtual bool connect() = 0;
72
79 virtual bool getBodiesPose(std::map<std::string, vpHomogeneousMatrix> &bodies_pose, bool all_bodies = false) = 0;
80
87 virtual bool getSpecificBodyPose(const std::string &body_name, vpHomogeneousMatrix &body_pose) = 0;
88
95 virtual inline void setServerAddress(const std::string &serverAddr) { m_serverAddr = serverAddr; }
96
101 virtual inline void setVerbose(bool verbose) { m_verbose = verbose; }
102
103protected:
105 std::string m_serverAddr;
106};
107
108#endif // vpMocap_h
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpMocap()
Definition vpMocap.h:55
virtual void setServerAddress(const std::string &serverAddr)
Definition vpMocap.h:95
virtual bool getSpecificBodyPose(const std::string &body_name, vpHomogeneousMatrix &body_pose)=0
bool m_verbose
Definition vpMocap.h:104
std::string m_serverAddr
Definition vpMocap.h:105
virtual void setVerbose(bool verbose)
Definition vpMocap.h:101
virtual ~vpMocap()
Definition vpMocap.h:59
virtual bool connect()=0
virtual void close()=0
virtual bool getBodiesPose(std::map< std::string, vpHomogeneousMatrix > &bodies_pose, bool all_bodies=false)=0