Simple class abstracting communication with Vicon tracker.

Source is available from GIT repository:

git clone anon@git.iim.cz:vicon

In the source directory:

mkdir build
cd build
cmake ..
make

This will create directory build, configure the project and build it. The test application will be placed in build/bin directory.

The use of the provided library is very straightforward. The class' constructor Should be invoked with IP address of tarsus server and optionally port where it runs (otherwise it defaults to 800). Like:

vicon::Vicon tarsus("192.168.23.15", 800);

The construction will try to connect to tarsus ans fetch info about variables it provides. If it fails, it will throw std::runtime_error.

When is the object constructed and connected to tarsus, all you need to do is to call Vicon::refresh_data() everytime you want new data from vicon.

tarsus.refresh_data();

And lastly, to get to the data, there are getter Vicon::names() and Vicon::values() returning const ref to vectors of values and it's names.

Simple example on how to use the class is included in src/vicon_test.cpp

vicon_test.cpp

#include "Vicon.h"
#include <iostream>
#include <unistd.h>
 
int main(int argc, char** argv)
{
	if (argc < 2) {
		std::cerr << "Not enough parameters. Use as:\n" << argv[0] << " <IP> [<port>]\n";
		return 1;
	}
	uint16_t port = 800;
	if (argc > 2) port = std::stoul(argv[2]);
 
	vicon::Vicon tarsus(argv[1], port);
 
	for (int i=0;i<10;++i) {
		tarsus.refresh_data();
		std::cout << tarsus.names()[0] << ": " << tarsus.values()[0]<<"\n";
		::usleep(5000);
	}
 
}