source: flair-dev/trunk/include/FlairSimulator/Simulator.h @ 9

Last change on this file since 9 was 9, checked in by Sanahuja Guillaume, 6 years ago

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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 {
26    namespace core {
27        class Quaternion;
28        class Vector3D;
29    }
30}
31
32namespace flair
33{
34namespace simulator
35{
36    class Model;
37    class Gui;
38
39    class Simulator: public core::FrameworkManager
40    {
41        friend class Model;
42        friend class Gui;
43        friend class GenericObject;
44
45        public:
46            //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
47            Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);
48            ~Simulator();
49            void RunSimu(void);
50            //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians
51            float Yaw(void) const;
52            //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
53            core::Quaternion ToVRPNReference(core::Quaternion quat_in);
54            core::Vector3D ToVRPNReference(core::Vector3D point_in);
55
56        private:
57            Simulator_impl* pimpl_;
58    };
59
60    /*!
61    * \brief get Simulator
62    *
63    * \return the Simulator
64    */
65    Simulator* getSimulator(void);
66
67} // end namespace simulator
68} // end namespace flair
69
70#endif // SIMULATOR_H
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