vicon.orogen

name 'vicon'
version 0.1

using_library 'ViconDataStreamSDK_CPP'
import_types_from 'base'

task_context "Task" do
	default_activity :periodic, 0.01
	needs_configuration

	property("host", "/std/string")
	.doc("The network host of the vicon tracking system.")

	property("subject", "/std/string")
	.doc("The subject that is being tracked.")

	property("segment", "/std/string")
	.doc("The segment of the subject that is tracked. This is the same as subject when using Vicon in Tracker mode.")

	property("source_frame", "/std/string", "object")
	.doc "Choosen object or segment reference frame."

	property("target_frame", "/std/string", "vicon")
	.doc("Chosen world reference frame.")

	property("target_frame_relative", "/std/string", "vicon_start")
	.doc("Chosen world reference frame name for the relative pose.")

	property("drop_occluded", "bool", false)
	.doc("Do not send samples when the segment is occluded.")

	property("invalidate_occluded", "bool", true)
	.doc("Invalidate sample when the segment is occluded.")

	property("xdir","int",1).doc("Direction of the x axis e.g. 1=Forward, -1=Backward ...")
	property("ydir","int",2).doc("Direction of the y axis e.g. ... 2=Left, -2=Right ...")
	property("zdir","int",3).doc("Direction of the z axis e.g. ... 3=Up, -3=Down")

	property("uncertainty_samples","int", 0)
	.doc("Number of samples to compute the online data stream covariance. When set to 0, no uncertainty is computed.")

	property("substract_reported_latency", "bool", false)
	.doc("substract the vicon-reported letency from the local timestamp. This will not include transmission time from vicon to this task, but still have a more exact timestamps.");

	output_port("pose_samples", "/base/samples/RigidBodyState")
	.doc("Pose of the configured segment.")
	output_port("pose_relative",  "/base/samples/RigidBodyState")
	.doc("Pose of the configured segment relative to its first pose. This will be reset by reconfiguring the task.")

	output_port("unlabeled_markers", "/std/vector</base/Vector3d>")
end