source: flair-dev/trunk/include/FlairSensorActuator/VrpnObject.h@ 11

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file VrpnObject.h
 * \brief Class for VRPN object
 * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/04/03
 * \version 4.0
 */

#ifndef VRPNOBJECT_H
#define VRPNOBJECT_H

#include <IODevice.h>
#include <stdint.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class Vector3D;
        class Euler;
        class Quaternion;
    }
    namespace gui
    {
        class TabWidget;
        class Tab;
        class DataPlot1D;
    }
}

class VrpnObject_impl;
class VrpnClient_impl;

namespace flair
{
namespace sensor
{
    class VrpnClient;

    /*! \class VrpnObject
    *
    * \brief Class for VRPN object
    */
    class VrpnObject: public core::IODevice
    {
        friend class ::VrpnObject_impl;
        friend class ::VrpnClient_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct a VrpnObject. Connection is done by IP.
            *
            * \param parent parent
            * \param name VRPN object name, should be the same as defined in the server
            * \param tab Tab for the user interface
            */
            VrpnObject(const VrpnClient *parent,std::string name,const gui::TabWidget* tab);

            /*!
            * \brief Constructor
            *
            * Construct a VrpnObject. Connection is done by IP.
            *
            * \param parent parent
            * \param name name
            * \param id VRPN object id, should be the same as defined in the server
            * \param tab Tab for the user interface
            */
            VrpnObject(const VrpnClient *parent,std::string name,uint8_t id,const gui::TabWidget* tab);

            /*!
            * \brief Destructor
            *
            */
            ~VrpnObject(void);

            /*!
            * \brief Plot tab
            *
            * \return plot Tab
            */
            gui::Tab* GetPlotTab(void) const;

            /*!
            * \brief Get Last Packet Time
            *
            * \return Time of last received packe
            */
            core::Time GetLastPacketTime(void) const;

            /*!
            * \brief Is object tracked?
            *
            * \param timeout_ms timeout
            * \return true if object is tracked during timeout_ms time
            */
            bool IsTracked(unsigned int timeout_ms) const;

            /*!
            * \brief Get Euler angles
            *
            * \param euler output datas
            */
            void GetEuler(core::Euler &euler) const;

            /*!
            * \brief Get Quaternion
            *
            * \param quaternion output datas
            */
            void GetQuaternion(core::Quaternion &quaternion) const;
            /*!
            * \brief Get Position
            *
            * \param point output datas
            */
            void GetPosition(core::Vector3D &point) const;

            /*!
            * \brief Output matrix
            *
            * Matrix is of type float and as follows: \n
            * (0,0) roll (rad) \n
            * (1,0) pitch (rad) \n
            * (2,0) yaw (rad) \n
            * (3,0) x \n
            * (4,0) y \n
            * (5,0) z \n
            *
            * \return Output metrix
            */
            core::cvmatrix *Output(void) const;

            /*!
            * \brief State matrix
            *
            * Matrix is of type float and as follows: \n
            * (0,0) roll (deg) \n
            * (1,0) pitch (deg) \n
            * (2,0) yaw (deg) \n
            *
            * \return State metrix
            */
            core::cvmatrix *State(void) const;

            /*!
            * \brief x plot
            *
            * \return x plot
            */
            gui::DataPlot1D* xPlot(void) const;

            /*!
            * \brief y plot
            *
            * \return y plot
            */
            gui::DataPlot1D* yPlot(void) const;

            /*!
            * \brief z plot
            *
            * \return z plot
            */
            gui::DataPlot1D* zPlot(void) const;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            void mainloop(void);
            class VrpnObject_impl* pimpl_;
    };
} // end namespace sensor
} // end namespace flair
#endif // VRPNOBJECT_H