source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.cpp @ 157

Last change on this file since 157 was 148, checked in by Sanahuja Guillaume, 5 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 {
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(7, 1);
54  for (int i = 0; i < desc->Rows(); i++) {
55    desc->SetElementName(i, 0, Output()->Name(i, 0));
56  }
57  cvmatrix *prev_value = new cvmatrix(this, desc, elementDataType, name);
58  delete desc;
59
60  pbas = new LowPassFilter(this, GetVrpnClient()->GetLayout()->NewRow(),
61                           name + " Passe bas", prev_value);
62  delete prev_value;
63
64  desc = new cvmatrix_descriptor(7, 1);
65  for (int i = 0; i < desc->Rows(); i++) {
66    desc->SetElementName(i, 0, "d" + Output()->Name(i, 0));
67  }
68  prev_value = new cvmatrix(this, desc, elementDataType, name);
69  delete desc;
70
71  euler = new EulerDerivative(pbas, GetVrpnClient()->GetLayout()->NewRow(),
72                              name + "_euler", prev_value);
73  delete prev_value;
74
75  vx_opti_plot = new DataPlot1D(GetPlotTab()->NewRow(), "vx", -3, 3);
76  vx_opti_plot->AddCurve(euler->Matrix()->Element(4));
77  vy_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vy", -3, 3);
78  vy_opti_plot->AddCurve(euler->Matrix()->Element(5));
79  vz_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vz", -2, 2);
80  vz_opti_plot->AddCurve(euler->Matrix()->Element(6));
81
82  plot_tab = new Tab(GetVrpnClient()->GetTabWidget(), "Mesures (xy) " + name);
83  xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
84  xy_plot->AddCurve(Output()->Element(5, 0), Output()->Element(4, 0));
85}
86
87MetaVrpnObject::~MetaVrpnObject() { delete plot_tab; }
88
89DataPlot1D *MetaVrpnObject::VxPlot(void) const { return vx_opti_plot; }
90
91DataPlot1D *MetaVrpnObject::VyPlot(void) const { return vy_opti_plot; }
92
93DataPlot1D *MetaVrpnObject::VzPlot(void) const { return vz_opti_plot; }
94
95DataPlot2D *MetaVrpnObject::XyPlot(void) const { return xy_plot; }
96
97void MetaVrpnObject::GetSpeed(Vector3D &speed) const {
98  speed.x = euler->Output(4, 0);
99  speed.y = euler->Output(5, 0);
100  speed.z = euler->Output(6, 0);
101}
102
103} // end namespace sensor
104} // end namespace framewor
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