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 VrpnObject.h |
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7 | * \brief Class for VRPN object |
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8 | * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS |
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9 | * 7253 |
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10 | * \date 2013/04/03 |
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11 | * \version 4.0 |
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12 | */ |
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13 | |
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14 | #ifndef VRPNOBJECT_H |
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15 | #define VRPNOBJECT_H |
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16 | |
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17 | #include <IODevice.h> |
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18 | #include <VrpnClient.h> |
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19 | #include <Vector3D.h> |
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20 | #include <stdint.h> |
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21 | |
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22 | namespace flair { |
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23 | namespace core { |
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24 | class Matrix; |
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25 | class Quaternion; |
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26 | } |
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27 | namespace gui { |
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28 | class TabWidget; |
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29 | class Tab; |
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30 | class DataPlot1D; |
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31 | } |
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32 | } |
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33 | |
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34 | class VrpnObject_impl; |
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35 | |
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36 | namespace flair { |
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37 | namespace sensor { |
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38 | class VrpnClient; |
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39 | |
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40 | /*! \class VrpnObject |
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41 | * |
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42 | * \brief Class for VRPN object. The IODevice is created with |
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43 | * the VrpnClient as parent. VrpnClient must be created before. |
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44 | */ |
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45 | class VrpnObject : public core::IODevice { |
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46 | friend class ::VrpnObject_impl; |
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47 | |
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48 | public: |
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49 | /*! |
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50 | * \brief Constructor |
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51 | * |
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52 | * Construct a VrpnObject. Connection is done by IP. |
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53 | * |
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54 | * \param name VRPN object name, should be the same as defined in the server |
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55 | * \param tab Tab for the user interface |
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56 | * \param client VrpnClient of the connection, if unspecified, use the default one |
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57 | */ |
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58 | VrpnObject(std::string name, |
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59 | const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient()); |
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60 | |
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61 | /*! |
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62 | * \brief Constructor |
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63 | * |
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64 | * Construct a VrpnObject. Connection is done by xbee. |
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65 | * |
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66 | * \param name name |
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67 | * \param id VRPN object id, should be the same as defined in the xbee bridge |
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68 | * \param tab Tab for the user interface |
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69 | * \param client VrpnClient of the connection, if unspecified, use the default one |
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70 | */ |
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71 | VrpnObject(std::string name, uint8_t id, |
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72 | const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient()); |
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73 | |
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74 | /*! |
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75 | * \brief Destructor |
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76 | * |
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77 | */ |
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78 | ~VrpnObject(void); |
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79 | |
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80 | /*! |
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81 | * \brief Plot tab |
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82 | * |
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83 | * \return plot Tab |
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84 | */ |
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85 | gui::Tab *GetPlotTab(void) const; |
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86 | |
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87 | /*! |
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88 | * \brief Get Last Packet Time |
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89 | * |
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90 | * \return Time of last received packe |
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91 | */ |
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92 | core::Time GetLastPacketTime(void) const; |
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93 | |
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94 | /*! |
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95 | * \brief Is object tracked? |
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96 | * |
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97 | * \param timeout_ms timeout |
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98 | * \return true if object is tracked during timeout_ms time |
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99 | */ |
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100 | bool IsTracked(unsigned int timeout_ms) const; |
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101 | |
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102 | /*! |
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103 | * \brief Get Quaternion |
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104 | * |
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105 | * \param quaternion output datas |
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106 | */ |
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107 | void GetQuaternion(core::Quaternion &quaternion) const; |
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108 | /*! |
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109 | * \brief Get Position |
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110 | * |
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111 | * \param point output datas |
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112 | */ |
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113 | void GetPosition(core::Vector3Df &point) const; |
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114 | |
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115 | /*! |
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116 | * \brief Output matrix |
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117 | * |
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118 | * Matrix is of type float and as follows: \n |
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119 | * (0,0) q0 \n |
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120 | * (1,0) q1 \n |
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121 | * (2,0) q2 \n |
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122 | * (3,0) q3 \n |
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123 | * (4,0) x \n |
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124 | * (5,0) y \n |
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125 | * (6,0) z \n |
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126 | * |
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127 | * \return Output matrix |
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128 | */ |
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129 | core::Matrix *Output(void) const; |
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130 | |
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131 | /*! |
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132 | * \brief State matrix |
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133 | * |
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134 | * Used for plotting on ground station. \n |
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135 | * Matrix is of type float and as follows: \n |
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136 | * (0,0) roll (deg) \n |
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137 | * (1,0) pitch (deg) \n |
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138 | * (2,0) yaw (deg) \n |
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139 | * |
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140 | * \return State matrix |
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141 | */ |
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142 | core::Matrix *State(void) const; |
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143 | |
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144 | /*! |
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145 | * \brief x plot |
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146 | * |
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147 | * \return x plot |
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148 | */ |
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149 | gui::DataPlot1D *xPlot(void) const; |
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150 | |
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151 | /*! |
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152 | * \brief y plot |
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153 | * |
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154 | * \return y plot |
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155 | */ |
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156 | gui::DataPlot1D *yPlot(void) const; |
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157 | |
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158 | /*! |
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159 | * \brief z plot |
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160 | * |
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161 | * \return z plot |
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162 | */ |
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163 | gui::DataPlot1D *zPlot(void) const; |
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164 | |
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165 | private: |
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166 | /*! |
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167 | * \brief Update using provided datas |
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168 | * |
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169 | * Reimplemented from IODevice. |
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170 | * |
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171 | * \param data data from the parent to process |
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172 | */ |
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173 | void UpdateFrom(const core::io_data *data){}; |
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174 | |
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175 | class VrpnObject_impl *pimpl_; |
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176 | }; |
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177 | } // end namespace sensor |
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178 | } // end namespace flair |
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179 | #endif // VRPNOBJECT_H |
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