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104<div class="header">
105  <div class="headertitle">
106<div class="title">VrpnObject.h</div>  </div>
107</div><!--header-->
108<div class="contents">
109<a href="_vrpn_object_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// %flair:license{</span></div>
110<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
111<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
112<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// %flair:license}</span></div>
113<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef VRPNOBJECT_H</span></div>
114<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define VRPNOBJECT_H</span></div>
115<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div>
116<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
117<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
118<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
119<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span>flair {</div>
120<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span>core {</div>
121<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
122<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>Vector3D;</div>
123<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">class </span>Euler;</div>
124<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">class </span>Quaternion;</div>
125<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;}</div>
126<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span>gui {</div>
127<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">class </span>TabWidget;</div>
128<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">class </span>Tab;</div>
129<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">class </span>DataPlot1D;</div>
130<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div>
131<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div>
132<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div>
133<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">class </span>VrpnObject_impl;</div>
134<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">class </span>VrpnClient_impl;</div>
135<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div>
136<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span>flair {</div>
137<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">namespace </span>sensor {</div>
138<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>VrpnClient;</div>
139<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div>
140<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_vrpn_object.html">   45</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html">VrpnObject</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
141<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">friend</span> class ::VrpnObject_impl;</div>
142<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">friend</span> class ::VrpnClient_impl;</div>
143<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
144<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">public</span>:</div>
145<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#aa5bbb98011e31146b7d32b5d838ef0ef">VrpnObject</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_client.html">VrpnClient</a> *parent, std::string name,</div>
146<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;             <span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tab);</div>
147<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
148<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#aa5bbb98011e31146b7d32b5d838ef0ef">VrpnObject</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_client.html">VrpnClient</a> *parent, std::string name, uint8_t <span class="keywordtype">id</span>,</div>
149<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;             <span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tab);</div>
150<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
151<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a3f763c10994c9105bc24b3ab61f90afa">~VrpnObject</a>(<span class="keywordtype">void</span>);</div>
152<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div>
153<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a3ab137dde2f6c3d1d8086dd886e1c539">GetPlotTab</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
154<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div>
155<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#aa192e539d45cfebdcb258109f9136789">GetLastPacketTime</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
156<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div>
157<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a516210bba13f3df87da71dac8a494c20">IsTracked</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> timeout_ms) <span class="keyword">const</span>;</div>
158<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
159<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a32e2c982fb63444678b672fce4762738">GetEuler</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &amp;euler) <span class="keyword">const</span>;</div>
160<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div>
161<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a2942cbbb898ba9d0d795b97ad3b9825f">GetQuaternion</a>(<a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &amp;quaternion) <span class="keyword">const</span>;</div>
162<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a2c4b259c51b98fa92f8f39141ac9f8b2">GetPosition</a>(<a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3D</a> &amp;point) <span class="keyword">const</span>;</div>
163<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div>
164<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#acac80ce94c7081f6e51f8d81d158e164">Output</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
165<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div>
166<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#acb5162ae1ed3ea0b646ab12ac6879279">State</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
167<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div>
168<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#a497f45bf3c808c99df38efedfb1fb29a">xPlot</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
169<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div>
170<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#af6e2b048e6e5c74f03a5bf1d767e5819">yPlot</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
171<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
172<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *<a class="code" href="classflair_1_1sensor_1_1_vrpn_object.html#aa913d9d717b7321cf9f4b4fe4ebb6b9c">zPlot</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
173<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div>
174<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keyword">private</span>:</div>
175<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data){};</div>
176<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div>
177<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordtype">void</span> mainloop(<span class="keywordtype">void</span>);</div>
178<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">class </span>VrpnObject_impl *pimpl_;</div>
179<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;};</div>
180<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;} <span class="comment">// end namespace sensor</span></div>
181<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;} <span class="comment">// end namespace flair</span></div>
182<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="preprocessor">#endif // VRPNOBJECT_H</span></div>
183<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:77</div></div>
184<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_aa913d9d717b7321cf9f4b4fe4ebb6b9c"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#aa913d9d717b7321cf9f4b4fe4ebb6b9c">flair::sensor::VrpnObject::zPlot</a></div><div class="ttdeci">gui::DataPlot1D * zPlot(void) const </div><div class="ttdoc">z plot </div></div>
185<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
186<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_aa192e539d45cfebdcb258109f9136789"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#aa192e539d45cfebdcb258109f9136789">flair::sensor::VrpnObject::GetLastPacketTime</a></div><div class="ttdeci">core::Time GetLastPacketTime(void) const </div><div class="ttdoc">Get Last Packet Time. </div></div>
187<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html">flair::sensor::VrpnObject</a></div><div class="ttdoc">Class for VRPN object. </div><div class="ttdef"><b>Definition:</b> VrpnObject.h:45</div></div>
188<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
189<div class="ttc" id="classflair_1_1core_1_1_vector3_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector3_d.html">flair::core::Vector3D</a></div><div class="ttdoc">Class defining a 3D vector. </div><div class="ttdef"><b>Definition:</b> Vector3D.h:28</div></div>
190<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a497f45bf3c808c99df38efedfb1fb29a"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a497f45bf3c808c99df38efedfb1fb29a">flair::sensor::VrpnObject::xPlot</a></div><div class="ttdeci">gui::DataPlot1D * xPlot(void) const </div><div class="ttdoc">x plot </div></div>
191<div class="ttc" id="classflair_1_1core_1_1_euler_html"><div class="ttname"><a href="classflair_1_1core_1_1_euler.html">flair::core::Euler</a></div><div class="ttdoc">Class defining euler angles. </div><div class="ttdef"><b>Definition:</b> Euler.h:27</div></div>
192<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:49</div></div>
193<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_aa5bbb98011e31146b7d32b5d838ef0ef"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#aa5bbb98011e31146b7d32b5d838ef0ef">flair::sensor::VrpnObject::VrpnObject</a></div><div class="ttdeci">VrpnObject(const VrpnClient *parent, std::string name, const gui::TabWidget *tab)</div><div class="ttdoc">Constructor. </div></div>
194<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a3ab137dde2f6c3d1d8086dd886e1c539"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a3ab137dde2f6c3d1d8086dd886e1c539">flair::sensor::VrpnObject::GetPlotTab</a></div><div class="ttdeci">gui::Tab * GetPlotTab(void) const </div><div class="ttdoc">Plot tab. </div></div>
195<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
196<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a3f763c10994c9105bc24b3ab61f90afa"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a3f763c10994c9105bc24b3ab61f90afa">flair::sensor::VrpnObject::~VrpnObject</a></div><div class="ttdeci">~VrpnObject(void)</div><div class="ttdoc">Destructor. </div></div>
197<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a32e2c982fb63444678b672fce4762738"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a32e2c982fb63444678b672fce4762738">flair::sensor::VrpnObject::GetEuler</a></div><div class="ttdeci">void GetEuler(core::Euler &amp;euler) const </div><div class="ttdoc">Get Euler angles. </div></div>
198<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_af6e2b048e6e5c74f03a5bf1d767e5819"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#af6e2b048e6e5c74f03a5bf1d767e5819">flair::sensor::VrpnObject::yPlot</a></div><div class="ttdeci">gui::DataPlot1D * yPlot(void) const </div><div class="ttdoc">y plot </div></div>
199<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a516210bba13f3df87da71dac8a494c20"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a516210bba13f3df87da71dac8a494c20">flair::sensor::VrpnObject::IsTracked</a></div><div class="ttdeci">bool IsTracked(unsigned int timeout_ms) const </div><div class="ttdoc">Is object tracked? </div></div>
200<div class="ttc" id="classflair_1_1gui_1_1_tab_widget_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab_widget.html">flair::gui::TabWidget</a></div><div class="ttdoc">Class displaying a QTabWidget on the ground station. </div><div class="ttdef"><b>Definition:</b> TabWidget.h:29</div></div>
201<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_acac80ce94c7081f6e51f8d81d158e164"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#acac80ce94c7081f6e51f8d81d158e164">flair::sensor::VrpnObject::Output</a></div><div class="ttdeci">core::cvmatrix * Output(void) const </div><div class="ttdoc">Output matrix. </div></div>
202<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a2942cbbb898ba9d0d795b97ad3b9825f"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a2942cbbb898ba9d0d795b97ad3b9825f">flair::sensor::VrpnObject::GetQuaternion</a></div><div class="ttdeci">void GetQuaternion(core::Quaternion &amp;quaternion) const </div><div class="ttdoc">Get Quaternion. </div></div>
203<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_acb5162ae1ed3ea0b646ab12ac6879279"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#acb5162ae1ed3ea0b646ab12ac6879279">flair::sensor::VrpnObject::State</a></div><div class="ttdeci">core::cvmatrix * State(void) const </div><div class="ttdoc">State matrix. </div></div>
204<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_client_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_client.html">flair::sensor::VrpnClient</a></div><div class="ttdoc">Class to connect to a Vrpn server. </div><div class="ttdef"><b>Definition:</b> VrpnClient.h:39</div></div>
205<div class="ttc" id="classflair_1_1sensor_1_1_vrpn_object_html_a2c4b259c51b98fa92f8f39141ac9f8b2"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_object.html#a2c4b259c51b98fa92f8f39141ac9f8b2">flair::sensor::VrpnObject::GetPosition</a></div><div class="ttdeci">void GetPosition(core::Vector3D &amp;point) const </div><div class="ttdoc">Get Position. </div></div>
206<div class="ttc" id="classflair_1_1gui_1_1_data_plot1_d_html"><div class="ttname"><a href="classflair_1_1gui_1_1_data_plot1_d.html">flair::gui::DataPlot1D</a></div><div class="ttdoc">Class displaying a 1D plot on the ground station. </div><div class="ttdef"><b>Definition:</b> DataPlot1D.h:33</div></div>
207<div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:25</div></div>
208<div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
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