source: flair-dev/trunk/include/FlairSimulator/Simulator.h @ 8

Last change on this file since 8 was 8, checked in by Sanahuja Guillaume, 5 years ago

simulator

File size: 1.6 KB
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[8]1//  created:    2013/03/25
2//  filename:   Simulator.h
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    classe de base du simulateur
10//
11/*********************************************************************/
12
13#ifndef SIMULATOR_H
14#define SIMULATOR_H
15
16#include <FrameworkManager.h>
17#include <stdint.h>
18
19class Simulator_impl;
20
21namespace flair {
22    namespace core {
23        class Quaternion;
24        class Vector3D;
25    }
26}
27
28namespace flair
29{
30namespace simulator
31{
32    class Model;
33    class Gui;
34
35    class Simulator: public core::FrameworkManager
36    {
37        friend class Model;
38        friend class Gui;
39        friend class GenericObject;
40
41        public:
42            //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
43            Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);
44            ~Simulator();
45            void RunSimu(void);
46            //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians
47            float Yaw(void) const;
48            //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
49            core::Quaternion ToVRPNReference(core::Quaternion quat_in);
50            core::Vector3D ToVRPNReference(core::Vector3D point_in);
51
52        private:
53            Simulator_impl* pimpl_;
54    };
55
56    /*!
57    * \brief get Simulator
58    *
59    * \return the Simulator
60    */
61    Simulator* getSimulator(void);
62
63} // end namespace simulator
64} // end namespace flair
65
66#endif // SIMULATOR_H
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