source: flair-dev/tags/0.0.1/include/FlairSimulator/Simulator.h@ 55

Last change on this file since 55 was 13, checked in by Bayard Gildas, 6 years ago

formatting script + include reformatted

File size: 1.6 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/03/25
6// filename: Simulator.h
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe de base du simulateur
14//
15/*********************************************************************/
16
17#ifndef SIMULATOR_H
18#define SIMULATOR_H
19
20#include <FrameworkManager.h>
21#include <stdint.h>
22
23class Simulator_impl;
24
25namespace flair {
26namespace core {
27class Quaternion;
28class Vector3D;
29}
30}
31
32namespace flair {
33namespace simulator {
34class Model;
35class Gui;
36
37class Simulator : public core::FrameworkManager {
38 friend class Model;
39 friend class Gui;
40 friend class GenericObject;
41
42public:
43 // yaw_deg: rotation of the vrpn coordinate with respect to the earth
44 // coordinate, around z axis
45 Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
46 ~Simulator();
47 void RunSimu(void);
48 // get rotation of the vrpn coordinate with respect to the earth coordinate,
49 // around z axis; in radians
50 float Yaw(void) const;
51 // compute rotation of the vrpn coordinate with respect to the earth
52 // coordinate, around z axis
53 core::Quaternion ToVRPNReference(core::Quaternion quat_in);
54 core::Vector3D ToVRPNReference(core::Vector3D point_in);
55
56private:
57 Simulator_impl *pimpl_;
58};
59
60/*!
61* \brief get Simulator
62*
63* \return the Simulator
64*/
65Simulator *getSimulator(void);
66
67} // end namespace simulator
68} // end namespace flair
69
70#endif // SIMULATOR_H
Note: See TracBrowser for help on using the repository browser.