source: flair-dev/trunk/include/FlairSimulator/Simulator.h @ 94

Last change on this file since 94 was 94, checked in by Sanahuja Guillaume, 22 months ago

draw vrpn axis in simulator

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 <Vector3D.h>
22#include <stdint.h>
23
24class Simulator_impl;
25class Model_impl;
26
27namespace flair {
28namespace core {
29class Quaternion;
30}
31}
32
33namespace flair {
34namespace simulator {
35class Model;
36class Gui;
37
38class Simulator : public core::FrameworkManager {
39  friend class ::Model_impl;
40  friend class Gui;
41  friend class GenericObject;
42
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, int port=3883);
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);
55  core::Vector3D<double> ToVRPNReference(core::Vector3D<double> point_in);
56
57private:
58  Simulator_impl *pimpl_;
59};
60
61/*!
62* \brief get Simulator
63*
64* \return the Simulator
65*/
66Simulator *getSimulator(void);
67
68} // end namespace simulator
69} // end namespace flair
70
71#endif // SIMULATOR_H
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