source: flair-dev/trunk/include/FlairSimulator/Simulator.h @ 82

Last change on this file since 82 was 50, checked in by Sanahuja Guillaume, 5 years ago

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[9]1// %flair:license{
[13]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[9]4// %flair:license}
[8]5//  created:    2013/03/25
6//  filename:   Simulator.h
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe de base du simulateur
14//
15/*********************************************************************/
16
17#ifndef SIMULATOR_H
18#define SIMULATOR_H
19
20#include <FrameworkManager.h>
[50]21#include <Vector3D.h>
[8]22#include <stdint.h>
23
24class Simulator_impl;
[50]25class Model_impl;
[8]26
27namespace flair {
[13]28namespace core {
29class Quaternion;
[8]30}
[13]31}
[8]32
[13]33namespace flair {
34namespace simulator {
35class Model;
36class Gui;
[8]37
[13]38class Simulator : public core::FrameworkManager {
[50]39  friend class ::Model_impl;
[13]40  friend class Gui;
41  friend class GenericObject;
[8]42
[13]43public:
44  // yaw_deg: rotation of the vrpn coordinate with respect to the earth
45  // coordinate, around z axis
46  Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
47  ~Simulator();
48  void RunSimu(void);
49  // get rotation of the vrpn coordinate with respect to the earth coordinate,
50  // around z axis; in radians
51  float Yaw(void) const;
52  // compute rotation of the vrpn coordinate with respect to the earth
53  // coordinate, around z axis
54  core::Quaternion ToVRPNReference(core::Quaternion quat_in);
[50]55  core::Vector3D<double> ToVRPNReference(core::Vector3D<double> point_in);
[8]56
[13]57private:
58  Simulator_impl *pimpl_;
59};
[8]60
[13]61/*!
62* \brief get Simulator
63*
64* \return the Simulator
65*/
66Simulator *getSimulator(void);
[8]67
68} // end namespace simulator
69} // end namespace flair
70
71#endif // SIMULATOR_H
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