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