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 | /*! |
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6 | * \file MetaVrpnObject.h |
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7 | * \brief Classe haut niveau intégrant un objet VRPN |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2013/04/08 |
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10 | * \version 3.4 |
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11 | */ |
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12 | |
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13 | #ifndef METAVRPNOBJECT_H |
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14 | #define METAVRPNOBJECT_H |
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15 | |
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16 | #include <VrpnObject.h> |
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17 | #include <VrpnClient.h> |
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18 | #include <io_data.h> |
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19 | #include <Vector3D.h> |
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20 | |
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21 | namespace flair { |
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22 | namespace gui { |
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23 | class DataPlot1D; |
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24 | class DataPlot2D; |
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25 | class Tab; |
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26 | } |
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27 | namespace filter { |
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28 | class EulerDerivative; |
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29 | class LowPassFilter; |
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30 | } |
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31 | } |
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32 | |
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33 | namespace flair { |
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34 | namespace meta { |
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35 | |
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36 | /*! \class MetaVrpnObject |
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37 | * |
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38 | * \brief Classe haut niveau intégrant un objet VRPN |
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39 | * |
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40 | * Contient un objet VRPN et une dérivée, d'euler. |
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41 | */ |
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42 | class MetaVrpnObject : public sensor::VrpnObject { |
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43 | public: |
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44 | MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient()); |
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45 | MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient()); |
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46 | ~MetaVrpnObject(); |
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47 | gui::DataPlot1D *VxPlot(void) const; // 1,0 |
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48 | gui::DataPlot1D *VyPlot(void) const; // 1,1 |
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49 | gui::DataPlot1D *VzPlot(void) const; // 1,2 |
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50 | gui::DataPlot2D *XyPlot(void) const; |
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51 | void GetSpeed(core::Vector3Df &speed) const; |
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52 | |
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53 | private: |
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54 | void ConstructorCommon(std::string name,sensor::VrpnClient *client); |
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55 | filter::LowPassFilter *pbas; |
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56 | filter::EulerDerivative *euler; |
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57 | gui::DataPlot2D *xy_plot; |
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58 | gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot; |
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59 | gui::Tab *plot_tab; |
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60 | }; |
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61 | } // end namespace meta |
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62 | } // end namespace flair |
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63 | #endif // METAVRPNOBJECT_H |
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