source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.cpp @ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 3.2 KB
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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:    2013/04/08
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 "VrpnClient.h"
21#include <EulerDerivative.h>
22#include <LowPassFilter.h>
23#include <IODevice.h>
24#include <GridLayout.h>
25#include <DataPlot1D.h>
26#include <DataPlot2D.h>
27#include <Tab.h>
28#include <TabWidget.h>
29#include <cvmatrix.h>
30#include <Vector3D.h>
31
32using std::string;
33using namespace flair::core;
34using namespace flair::gui;
35using namespace flair::sensor;
36using namespace flair::filter;
37
38namespace flair { namespace meta {
39
40MetaVrpnObject::MetaVrpnObject(const VrpnClient *parent,string name): VrpnObject(parent,name,parent->GetTabWidget())
41{
42    ConstructorCommon(parent,name);
43}
44
45MetaVrpnObject::MetaVrpnObject(const VrpnClient *parent,std::string name,uint8_t id): VrpnObject(parent,name,id,parent->GetTabWidget())
46{
47    ConstructorCommon(parent,name);
48}
49
50void MetaVrpnObject::ConstructorCommon(const VrpnClient *parent,string name) {
51    cvmatrix_descriptor* desc=new cvmatrix_descriptor(6,1);
52    for(int i=0;i<6;i++) {
53        desc->SetElementName(i,0,Output()->Name(i,0));
54    }
55    cvmatrix* prev_value=new cvmatrix(this,desc,elementDataType,name);
56    for(int i=0;i<6;i++) {
57        prev_value->SetValue(i,0,0);
58    }
59
60    pbas=new LowPassFilter(this,parent->GetLayout()->NewRow(),name + " Passe bas",prev_value);
61
62    desc=new cvmatrix_descriptor(6,1);
63    for(int i=0;i<6;i++) {
64        desc->SetElementName(i,0,"d" + Output()->Name(i,0));
65    }
66    prev_value=new cvmatrix(this,desc,elementDataType,name);
67    for(int i=0;i<6;i++) {
68        prev_value->SetValue(i,0,0);
69    }
70
71    euler=new EulerDerivative(pbas,parent->GetLayout()->NewRow(),name + "_euler",prev_value);
72
73    vx_opti_plot=new DataPlot1D(GetPlotTab()->NewRow(),"vx",-3,3);
74    vx_opti_plot->AddCurve(euler->Matrix()->Element(3));
75    vy_opti_plot=new DataPlot1D(GetPlotTab()->LastRowLastCol(),"vy",-3,3);
76    vy_opti_plot->AddCurve(euler->Matrix()->Element(4));
77    vz_opti_plot=new DataPlot1D(GetPlotTab()->LastRowLastCol(),"vz",-2,2);
78    vz_opti_plot->AddCurve(euler->Matrix()->Element(5));
79
80    plot_tab=new Tab(parent->GetTabWidget(),"Mesures (xy) "+ name);
81    xy_plot=new DataPlot2D(plot_tab->NewRow(),"xy","y",-5,5,"x",-5,5);
82        xy_plot->AddCurve(Output()->Element(4,0),Output()->Element(3,0));
83}
84
85MetaVrpnObject::~MetaVrpnObject() {
86    delete plot_tab;
87}
88
89DataPlot1D* MetaVrpnObject::VxPlot(void) const
90{
91    return vx_opti_plot;
92}
93
94DataPlot1D* MetaVrpnObject::VyPlot(void) const
95{
96    return vy_opti_plot;
97}
98
99DataPlot1D* MetaVrpnObject::VzPlot(void) const
100{
101    return vz_opti_plot;
102}
103
104DataPlot2D* MetaVrpnObject::XyPlot(void) const {
105    return xy_plot;
106}
107
108void MetaVrpnObject::GetSpeed(Vector3D &speed) const
109{
110    speed.x=euler->Output(3,0);
111    speed.y=euler->Output(4,0);
112    speed.z=euler->Output(5,0);
113}
114
115} // end namespace sensor
116} // end namespace framewor
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