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