Last change
on this file since 461 was 167, checked in by Sanahuja Guillaume, 7 years ago |
modifs pour template vectors
|
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 |
|
---|
24 | class Simulator_impl;
|
---|
25 | class Model_impl;
|
---|
26 |
|
---|
27 | namespace flair {
|
---|
28 | namespace core {
|
---|
29 | class Quaternion;
|
---|
30 | }
|
---|
31 | }
|
---|
32 |
|
---|
33 | namespace flair {
|
---|
34 | namespace simulator {
|
---|
35 | class Model;
|
---|
36 | class Gui;
|
---|
37 |
|
---|
38 | class Simulator : public core::FrameworkManager {
|
---|
39 | friend class ::Model_impl;
|
---|
40 | friend class Gui;
|
---|
41 | friend class GenericObject;
|
---|
42 |
|
---|
43 | public:
|
---|
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);
|
---|
55 | core::Vector3D<double> ToVRPNReference(core::Vector3D<double> point_in);
|
---|
56 |
|
---|
57 | private:
|
---|
58 | Simulator_impl *pimpl_;
|
---|
59 | };
|
---|
60 |
|
---|
61 | /*!
|
---|
62 | * \brief get Simulator
|
---|
63 | *
|
---|
64 | * \return the Simulator
|
---|
65 | */
|
---|
66 | Simulator *getSimulator(void);
|
---|
67 |
|
---|
68 | } // end namespace simulator
|
---|
69 | } // end namespace flair
|
---|
70 |
|
---|
71 | #endif // SIMULATOR_H
|
---|
Note:
See
TracBrowser
for help on using the repository browser.