This class implements the base class for all tracker devices. More...

#include <Tracker.h>

Inheritance diagram for Ocean::Devices::Tracker:

Data Structures
class	TrackerObjectEventSubscription
	This class manages the lifetime of an event subscription for tracker object events. More...

class	TrackerSample
	Definition of a sample holding one measurement values of a tracker. More...

Public Types
enum	TrackerType : uint32_t { TRACKER_INVALID = MINOR_INVALID , TRACKER_ORIENTATION_3DOF = (1u << 0u) , TRACKER_POSITION_3DOF = (1u << 1u) , TRACKER_6DOF = TRACKER_ORIENTATION_3DOF \| TRACKER_POSITION_3DOF , SCENE_TRACKER_6DOF = (1u << 2u) \| TRACKER_6DOF , TRACKER_GPS = (1u << 3u) , TRACKER_MAGNETIC = (1u << 4u) , TRACKER_VISUAL = (1u << 5u) , TRACKER_OBJECT = (1u << 6u) }
	Definition of different minor device types. More...

enum	ReferenceSystem { RS_OBJECT_IN_DEVICE , RS_DEVICE_IN_OBJECT }
	Definition of different tracking reference system. More...

typedef float	Frequency
	Definition of a tracker frequency in Hz.

typedef SmartObjectRef< TrackerSample, Sample >	TrackerSampleRef
	Definition of a smart object reference for tracker samples.

typedef Callback< void, const Tracker *, const bool, const ObjectIdSet &, const Timestamp & >	TrackerObjectCallback
	Definition of a callback function to subscribe for lost and found tracker events.

Public Types inherited from Ocean::Devices::Measurement
enum	InterpolationStrategy { IS_INVALID , IS_TIMESTAMP_NEAREST , IS_TIMESTAMP_INTERPOLATE }
	Definition of individual interpolation strategies for samples. More...

using	ObjectId = unsigned int
	Definition of an object id.

using	ObjectIds = std::vector< ObjectId >
	Definition of a vector holding object ids.

using	ObjectIdSet = std::unordered_set< ObjectId >
	Definition of an unordered set holding object ids.

using	Metadata = std::unordered_map< std::string, Value >
	Definition of an unordered map mapping keys to values.

using	SampleRef = ObjectRef< Sample >
	Definition of an object reference for samples.

using	SampleCallback = Callback< void, const Measurement *, const SampleRef & >
	Definition of a callback function to subscribe for new measurement sample events.

Public Types inherited from Ocean::Devices::Device
enum	MajorType : uint32_t { DEVICE_INVALID = 0u , DEVICE_MEASUREMENT = (1u << 0u) , DEVICE_SENSOR = (1u << 1u) \| DEVICE_MEASUREMENT , DEVICE_TRACKER = (1u << 2u) \| DEVICE_MEASUREMENT }
	Definition of all major device types. More...

enum	MinorType : uint32_t { MINOR_INVALID = 0u }
	Base definition of a minor type. More...

Public Member Functions
virtual Frequency	frequency () const
	Returns the frequency of this tracker.

virtual bool	isObjectTracked (const ObjectId &objectId) const
	Returns whether a specific object is currently actively tracked by this tracker.

TrackerObjectEventSubscription	subscribeTrackerObjectEvent (TrackerObjectCallback &&callback)
	Subscribes a callback event function for tracker object (found or lost) events.

virtual HomogenousMatrixD4	reference () const
	Returns the reference coordinate system of this tracker.

Public Member Functions inherited from Ocean::Devices::Measurement
size_t	sampleCapacity () const
	Returns the capacity of the internal sample container.

bool	setSampleCapacity (const size_t capacity)
	Sets the capacity of the internal sample container.

virtual SampleRef	sample () const
	Returns the most recent sample.

virtual SampleRef	sample (const Timestamp timestamp) const
	Returns the sample with a specific timestamp.

virtual SampleRef	sample (const Timestamp &timestamp, const InterpolationStrategy interpolationStrategy) const
	Returns the sample best matching with a specified timestamp.

SampleEventSubscription	subscribeSampleEvent (SampleCallback &&callback)
	Subscribes a callback event function for new measurement sample events.

ObjectId	objectId (const std::string &description) const
	Returns the object id for an object description.

Strings	objectDescriptions () const
	Returns descriptions of all objects currently available.

std::string	objectDescription (const ObjectId objectId) const
	Returns the description of one object of this measurement.

Public Member Functions inherited from Ocean::Devices::Device
const std::string &	name () const
	Returns the name of this device.

virtual const std::string &	library () const =0
	Returns the name of the owner library.

virtual bool	isStarted () const
	Returns whether this device is active.

bool	isValid () const
	Returns whether this device is valid.

bool	isExclusive () const
	Returns whether this device can be use exclusively.

virtual bool	start ()
	Starts the device.

virtual bool	pause ()
	Pauses the device.

virtual bool	stop ()
	Stops the device.

virtual bool	setParameter (const std::string &parameter, const Value &value)
	Sets an abstract parameter of this device.

virtual bool	parameter (const std::string &parameter, Value &value)
	Returns an abstract parameter of this device.

DeviceType	type () const
	Returns the major and minor type of this device.

Static Public Member Functions
static std::string	translateTrackerType (const TrackerType trackerType)
	Translates the tracker type to a readable string.

static TrackerType	translateTrackerType (const std::string &trackerType)
	Translates the tracker type from a readable string to a value.

static constexpr Frequency	unknownFrequency ()
	Definition of a constant as unknown frequency.

Static Public Member Functions inherited from Ocean::Devices::Measurement
static constexpr ObjectId	invalidObjectId ()
	Returns an invalid object id.

Static Public Member Functions inherited from Ocean::Devices::Device
static std::string	translateMajorType (const MajorType majorType)
	Translates the major devices type to a readable string.

static MajorType	translateMajorType (const std::string &majorType)
	Translates the major devices type from a readable string to a value.

Protected Types
typedef std::unordered_map< SubscriptionId, TrackerObjectCallback >	TrackerObjectSubscriptionMap
	Definition of a map mapping subscription ids to tracker object event callback functions.

Protected Types inherited from Ocean::Devices::Measurement
using	SampleMap = std::map< Timestamp, SampleRef >
	Definition of a map holding the most recent samples.

using	ObjectDescriptionToIdMap = std::unordered_map< std::string, ObjectId >
	Definition of an unordered map mapping descriptions to unique object ids.

using	ObjectIdToDescriptionMap = std::unordered_map< ObjectId, std::string >
	Definition of an unordered map mapping unique object ids to descriptions.

using	SampleSubscriptionMap = std::unordered_map< SubscriptionId, SampleCallback >
	Definition of a map mapping subscription ids to event sample callback functions.

Protected Types inherited from Ocean::Devices::Device
typedef unsigned int	SubscriptionId
	Definition of a subscription id for event callbacks.

Protected Member Functions
	Tracker (const std::string &name, const DeviceType type)
	Creates a new tracker object.

	~Tracker () override
	Destructs a tracker object.

void	postFoundTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new found tracker objects event.

void	postLostTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new lost tracker objects event.

void	unsubscribeTrackerObjectEvent (const SubscriptionId subscriptionId)
	Unsubscribes a tracker object event callback function.

Protected Member Functions inherited from Ocean::Devices::Measurement
	Measurement (const std::string &name, const DeviceType type)
	Creates a new measurement object.

	~Measurement () override
	Destructs a measurement object.

void	postNewSample (const SampleRef &newSample)
	Posts a new measurement sample.

ObjectId	addUniqueObjectId (const std::string &description)
	Creates a unique object id for a new object (e.g., a tracking object like an image, a marker, or a location).

void	unsubscribeSampleEvent (const SubscriptionId subscriptionId)
	Unsubscribes a sample event callback function.

Protected Member Functions inherited from Ocean::Devices::Device
	Device (const Device &device)=delete
	Disabled copy constructor.

	Device (const std::string &name, const DeviceType type)
	Creates a new device by is name.

virtual	~Device ()
	Destructs a device.

Device &	operator= (const Device &device)=delete
	Disabled copy operator.

Static Protected Member Functions
static ObjectIdSet	determineFoundObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

static ObjectIdSet	determineLostObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Static Protected Member Functions inherited from Ocean::Devices::Device
static constexpr SubscriptionId	invalidSubscriptionId ()
	Returns an invalid subscription id.

Protected Attributes
TrackerObjectSubscriptionMap	trackerObjectSubscriptionMap_
	Map holding all tracker object event subscriptions.

SubscriptionId	nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)
	The subscription id of the next event subscription.

Protected Attributes inherited from Ocean::Devices::Measurement
Lock	samplesLock_
	Sample lock.

Lock	subscriptionLock_
	Subscription lock.

Protected Attributes inherited from Ocean::Devices::Device
std::string	deviceName
	Name of this device.

DeviceType	deviceType
	Major and minor type of this device.

bool	deviceIsValid
	Flag determining whether this device is valid.

Lock	deviceLock
	Device lock.

Detailed Description

This class implements the base class for all tracker devices.

Member Typedef Documentation

◆ Frequency

typedef float Ocean::Devices::Tracker::Frequency

Definition of a tracker frequency in Hz.

◆ TrackerObjectCallback

typedef Callback<void, const Tracker*, const bool, const ObjectIdSet&, const Timestamp&> Ocean::Devices::Tracker::TrackerObjectCallback

Definition of a callback function to subscribe for lost and found tracker events.

The first parameter is the tracker producing the event.
The second parameter determines whether a tracker object has been found (true) or lost (false). The third parameter hold the ids of the tracker object. The last parameter hold the event timestamp.

◆ TrackerObjectSubscriptionMap

typedef std::unordered_map<SubscriptionId, TrackerObjectCallback> Ocean::Devices::Tracker::TrackerObjectSubscriptionMap

protected

Definition of a map mapping subscription ids to tracker object event callback functions.

◆ TrackerSampleRef

typedef SmartObjectRef<TrackerSample, Sample> Ocean::Devices::Tracker::TrackerSampleRef

Definition of a smart object reference for tracker samples.

Member Enumeration Documentation

◆ ReferenceSystem

enum Ocean::Devices::Tracker::ReferenceSystem

Definition of different tracking reference system.

Beware: Both reference systems are mutual inverse.

Enumerator
RS_OBJECT_IN_DEVICE	Returning tracking values are given in the coordinate system of the device.
RS_DEVICE_IN_OBJECT	Returning tracking values are given in the coordinate system of the object.

◆ TrackerType

enum Ocean::Devices::Tracker::TrackerType : uint32_t

Definition of different minor device types.

Enumerator
TRACKER_INVALID	Invalid tracker.
TRACKER_ORIENTATION_3DOF	3DOF orientation tracker.
TRACKER_POSITION_3DOF	3DOF position tracker.
TRACKER_6DOF	6DOF orientation and position tracker.
SCENE_TRACKER_6DOF	6DOF scene tracker.
TRACKER_GPS	GPS tracker.
TRACKER_MAGNETIC	Tracker using a magnetic measurements.
TRACKER_VISUAL	Tracker using a visual input for their measurements.
TRACKER_OBJECT	Tracker allowing to register tracking objects at runtime.

Constructor & Destructor Documentation

◆ Tracker()

Ocean::Devices::Tracker::Tracker	(	const std::string &	name,
		const DeviceType	type
	)

protected

Creates a new tracker object.

Parameters

name	The name of the tracker, must be valid
type	Major and minor device type of the device, must be valid

◆ ~Tracker()

Ocean::Devices::Tracker::~Tracker ( )

overrideprotected

Destructs a tracker object.

Member Function Documentation

◆ determineFoundObjects()

static ObjectIdSet Ocean::Devices::Tracker::determineFoundObjects	(	const ObjectIdSet &	previousObjects,
		const ObjectIdSet &	currentObjects
	)

staticprotected

Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

Parameters

previousObjects	The ids of all objects tracked in the previous iteration
currentObjects	The ids of all objects tracked in the current iteration

Returns: The ids of the objects which have been found in the current iteration

◆ determineLostObjects()

static ObjectIdSet Ocean::Devices::Tracker::determineLostObjects	(	const ObjectIdSet &	previousObjects,
		const ObjectIdSet &	currentObjects
	)

staticprotected

Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Parameters

previousObjects	The ids of all objects tracked in the previous iteration
currentObjects	The ids of all objects tracked in the current iteration

Returns: The ids of the objects which have been lost in the current iteration

◆ frequency()

virtual Frequency Ocean::Devices::Tracker::frequency ( ) const

virtual

Returns the frequency of this tracker.

Returns: The tracker's frequency in Hz, with range (0, infinity), -1 if unknown

◆ isObjectTracked()

virtual bool Ocean::Devices::Tracker::isObjectTracked ( const ObjectId & objectId ) const

virtual

Returns whether a specific object is currently actively tracked by this tracker.

Parameters

objectId The id of the object to be checked, must be valid

Returns: True, if so

◆ postFoundTrackerObjects()

void Ocean::Devices::Tracker::postFoundTrackerObjects	(	const ObjectIdSet &	objectIds,
		const Timestamp &	timestamp
	)

protected

Posts a new found tracker objects event.

Parameters

objectIds	The ids of all objects which have been found recently, nothing will be done if empty
timestamp	Event timestamp

◆ postLostTrackerObjects()

void Ocean::Devices::Tracker::postLostTrackerObjects	(	const ObjectIdSet &	objectIds,
		const Timestamp &	timestamp
	)

protected

Posts a new lost tracker objects event.

Parameters

objectIds	The ids of all objects which have been lost recently, nothing will be done if empty
timestamp	Event timestamp

◆ reference()

virtual HomogenousMatrixD4 Ocean::Devices::Tracker::reference ( ) const

virtual

Returns the reference coordinate system of this tracker.

Whenever a reference coordinate system is defined, all tracker samples are defined in relation to this reference coordinate system.

Returns: The tracker's reference coordinate system, invalid if the tracker does not use a reference system

◆ subscribeTrackerObjectEvent()

TrackerObjectEventSubscription Ocean::Devices::Tracker::subscribeTrackerObjectEvent ( TrackerObjectCallback && callback )

Subscribes a callback event function for tracker object (found or lost) events.

Do not subscribe or unsubscribe from inside an event thread.

Parameters

callback The callback function receiving the event calls, must be valid

Returns: The resulting subscription object, dispose the object to unsubscribe from the event call

◆ translateTrackerType() [1/2]

static TrackerType Ocean::Devices::Tracker::translateTrackerType ( const std::string & trackerType )

static

Translates the tracker type from a readable string to a value.

Parameters

trackerType The tracker type to translate

Returns: The translated value

◆ translateTrackerType() [2/2]

static std::string Ocean::Devices::Tracker::translateTrackerType ( const TrackerType trackerType )

static

Translates the tracker type to a readable string.

Parameters

trackerType The tracker type to translate

Returns: The readable string, empty if the tracker type is unknown

◆ unknownFrequency()

constexpr Tracker::Frequency Ocean::Devices::Tracker::unknownFrequency ( )

staticconstexpr

Definition of a constant as unknown frequency.

◆ unsubscribeTrackerObjectEvent()

void Ocean::Devices::Tracker::unsubscribeTrackerObjectEvent ( const SubscriptionId subscriptionId )

protected

Unsubscribes a tracker object event callback function.

Parameters

subscriptionId The id of the event subscription to unsubscribe

Field Documentation

◆ nextTrackerObjectSubscriptionId_

SubscriptionId Ocean::Devices::Tracker::nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)

protected

The subscription id of the next event subscription.

◆ trackerObjectSubscriptionMap_

TrackerObjectSubscriptionMap Ocean::Devices::Tracker::trackerObjectSubscriptionMap_

protected

Map holding all tracker object event subscriptions.

The documentation for this class was generated from the following file:

devices/Tracker.h

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Frequency

◆ TrackerObjectCallback

◆ TrackerObjectSubscriptionMap

◆ TrackerSampleRef

Member Enumeration Documentation

◆ ReferenceSystem

◆ TrackerType

Constructor & Destructor Documentation

◆ Tracker()

◆ ~Tracker()

Member Function Documentation

◆ determineFoundObjects()

◆ determineLostObjects()

◆ frequency()

◆ isObjectTracked()

◆ postFoundTrackerObjects()

◆ postLostTrackerObjects()

◆ reference()

◆ subscribeTrackerObjectEvent()

◆ translateTrackerType() [1/2]

◆ translateTrackerType() [2/2]

◆ unknownFrequency()

◆ unsubscribeTrackerObjectEvent()

Field Documentation

◆ nextTrackerObjectSubscriptionId_

◆ trackerObjectSubscriptionMap_