source: flair-dev/trunk/include/FlairSimulator/Simulator.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 1.6 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
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>
21#include <stdint.h>
22
23class Simulator_impl;
24
25namespace flair {
26namespace core {
27class Quaternion;
28class Vector3D;
29}
30}
31
32namespace flair {
33namespace simulator {
34class Model;
35class Gui;
36
37class Simulator : public core::FrameworkManager {
38  friend class Model;
39  friend class Gui;
40  friend class GenericObject;
41
42public:
43  // yaw_deg: rotation of the vrpn coordinate with respect to the earth
44  // coordinate, around z axis
45  Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
46  ~Simulator();
47  void RunSimu(void);
48  // get rotation of the vrpn coordinate with respect to the earth coordinate,
49  // around z axis; in radians
50  float Yaw(void) const;
51  // compute rotation of the vrpn coordinate with respect to the earth
52  // coordinate, around z axis
53  core::Quaternion ToVRPNReference(core::Quaternion quat_in);
54  core::Vector3D ToVRPNReference(core::Vector3D point_in);
55
56private:
57  Simulator_impl *pimpl_;
58};
59
60/*!
61* \brief get Simulator
62*
63* \return the Simulator
64*/
65Simulator *getSimulator(void);
66
67} // end namespace simulator
68} // end namespace flair
69
70#endif // SIMULATOR_H
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