97 virtual bool reconnect();
102 HYDRA_WAITING_FOR_CONNECT,
103 HYDRA_LISTENING_AFTER_CONNECT,
104 HYDRA_LISTENING_AFTER_SET_FEATURE,
111 BUTTON_CHANNELS = 14,
115 void _waiting_for_connect();
116 void _listening_after_connect();
117 void _listening_after_set_feature();
119 void _enter_motion_controller_mode();
121 void _report_for_sensor(
int sensorNum, vrpn_uint8 * data,
double dt);
124 bool _wasInGamepadMode;
126 struct timeval _timestamp;
127 struct timeval _connected;
128 struct timeval _set_feature;
130 const float _docking_distance;
131 bool _docked[POSE_CHANNELS];
132 bool _calibration_done[POSE_CHANNELS];
133 int _mirror[POSE_CHANNELS];
134 int _sign_x[POSE_CHANNELS];
135 q_vec_type _old_position[POSE_CHANNELS];
137 q_type _calibration_pose_conj[POSE_CHANNELS];