source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.cpp@ 124

Last change on this file since 124 was 122, checked in by Sanahuja Guillaume, 5 years ago

modifs uav vrpn i686

File size: 3.3 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 "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 {
39namespace meta {
40
41MetaVrpnObject::MetaVrpnObject(string name)
42 : VrpnObject( name, GetVrpnClient()->GetTabWidget()) {
43 ConstructorCommon(name);
44}
45
46MetaVrpnObject::MetaVrpnObject(std::string name,
47 uint8_t id)
48 : VrpnObject(name, id, GetVrpnClient()->GetTabWidget()) {
49 ConstructorCommon( name);
50}
51
52void MetaVrpnObject::ConstructorCommon(string name) {
53 cvmatrix_descriptor *desc = new cvmatrix_descriptor(6, 1);
54 for (int i = 0; i < 6; i++) {
55 desc->SetElementName(i, 0, Output()->Name(i, 0));
56 }
57 cvmatrix *prev_value = new cvmatrix(this, desc, elementDataType, name);
58 for (int i = 0; i < 6; i++) {
59 prev_value->SetValue(i, 0, 0);
60 }
61
62 pbas = new LowPassFilter(this, GetVrpnClient()->GetLayout()->NewRow(),
63 name + " Passe bas", prev_value);
64
65 desc = new cvmatrix_descriptor(6, 1);
66 for (int i = 0; i < 6; i++) {
67 desc->SetElementName(i, 0, "d" + Output()->Name(i, 0));
68 }
69 prev_value = new cvmatrix(this, desc, elementDataType, name);
70 for (int i = 0; i < 6; i++) {
71 prev_value->SetValue(i, 0, 0);
72 }
73
74 euler = new EulerDerivative(pbas, GetVrpnClient()->GetLayout()->NewRow(),
75 name + "_euler", prev_value);
76
77 vx_opti_plot = new DataPlot1D(GetPlotTab()->NewRow(), "vx", -3, 3);
78 vx_opti_plot->AddCurve(euler->Matrix()->Element(3));
79 vy_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vy", -3, 3);
80 vy_opti_plot->AddCurve(euler->Matrix()->Element(4));
81 vz_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vz", -2, 2);
82 vz_opti_plot->AddCurve(euler->Matrix()->Element(5));
83
84 plot_tab = new Tab(GetVrpnClient()->GetTabWidget(), "Mesures (xy) " + name);
85 xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
86 xy_plot->AddCurve(Output()->Element(4, 0), Output()->Element(3, 0));
87}
88
89MetaVrpnObject::~MetaVrpnObject() { delete plot_tab; }
90
91DataPlot1D *MetaVrpnObject::VxPlot(void) const { return vx_opti_plot; }
92
93DataPlot1D *MetaVrpnObject::VyPlot(void) const { return vy_opti_plot; }
94
95DataPlot1D *MetaVrpnObject::VzPlot(void) const { return vz_opti_plot; }
96
97DataPlot2D *MetaVrpnObject::XyPlot(void) const { return xy_plot; }
98
99void MetaVrpnObject::GetSpeed(Vector3D &speed) const {
100 speed.x = euler->Output(3, 0);
101 speed.y = euler->Output(4, 0);
102 speed.z = euler->Output(5, 0);
103}
104
105} // end namespace sensor
106} // end namespace framewor
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