source: flair-src/tags/latest/lib/FlairMeta/src/MetaVrpnObject.cpp

Last change on this file was 318, checked in by Sanahuja Guillaume, 2 years ago
File size: 3.1 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:    2013/04/08
6//  filename:   MetaVrpnObject.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant objet vrpn et une dérivée
14//              d'euler
15//
16//
17/*********************************************************************/
18
19#include "MetaVrpnObject.h"
20#include <EulerDerivative.h>
21#include <LowPassFilter.h>
22#include <IODevice.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <DataPlot2D.h>
26#include <Tab.h>
27#include <TabWidget.h>
28#include <Matrix.h>
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33using namespace flair::sensor;
34using namespace flair::filter;
35
36namespace flair {
37namespace meta {
38
39MetaVrpnObject::MetaVrpnObject(string name,VrpnClient *client)
40    : VrpnObject( name, client->GetTabWidget(),client) {
41  ConstructorCommon(name,client);
42}
43
44MetaVrpnObject::MetaVrpnObject(string name,uint8_t id,VrpnClient *client)
45    : VrpnObject(name, id, client->GetTabWidget(),client) {
46  ConstructorCommon( name,client);
47}
48
49void MetaVrpnObject::ConstructorCommon(string name,VrpnClient *client) {
50  MatrixDescriptor *desc = new MatrixDescriptor(7, 1);
51  for (int i = 0; i < desc->Rows(); i++) {
52    desc->SetElementName(i, 0, Output()->Name(i, 0));
53  }
54  Matrix *prev_value = new Matrix(this, desc, floatType, name);
55  delete desc;
56
57  pbas = new LowPassFilter(this, client->GetLayout()->NewRow(),
58                           name + " Passe bas", prev_value);
59  delete prev_value;
60
61  desc = new MatrixDescriptor(7, 1);
62  for (int i = 0; i < desc->Rows(); i++) {
63    desc->SetElementName(i, 0, "d" + Output()->Name(i, 0));
64  }
65  prev_value = new Matrix(this, desc, floatType, name);
66  delete desc;
67
68  euler = new EulerDerivative(pbas, client->GetLayout()->NewRow(),
69                              name + "_euler", prev_value);
70  delete prev_value;
71
72  vx_opti_plot = new DataPlot1D(GetPlotTab()->NewRow(), "vx", -3, 3);
73  vx_opti_plot->AddCurve(euler->GetMatrix()->Element(4));
74  vy_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vy", -3, 3);
75  vy_opti_plot->AddCurve(euler->GetMatrix()->Element(5));
76  vz_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vz", -2, 2);
77  vz_opti_plot->AddCurve(euler->GetMatrix()->Element(6));
78
79  plot_tab = new Tab(client->GetTabWidget(), "Mesures (xy) " + name);
80  xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
81  xy_plot->AddCurve(Output()->Element(5, 0), Output()->Element(4, 0));
82}
83
84MetaVrpnObject::~MetaVrpnObject() { delete plot_tab; }
85
86DataPlot1D *MetaVrpnObject::VxPlot(void) const { return vx_opti_plot; }
87
88DataPlot1D *MetaVrpnObject::VyPlot(void) const { return vy_opti_plot; }
89
90DataPlot1D *MetaVrpnObject::VzPlot(void) const { return vz_opti_plot; }
91
92DataPlot2D *MetaVrpnObject::XyPlot(void) const { return xy_plot; }
93
94void MetaVrpnObject::GetSpeed(Vector3Df &speed) const {
95  speed.x = euler->Output(4, 0);
96  speed.y = euler->Output(5, 0);
97  speed.z = euler->Output(6, 0);
98}
99
100} // end namespace sensor
101} // end namespace flair
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