source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 3.2 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
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::sensor;
35using namespace flair::filter;
36
37namespace flair {
38namespace meta {
39
40MetaVrpnObject::MetaVrpnObject(string name)
41    : VrpnObject( name, GetVrpnClient()->GetTabWidget()) {
42  ConstructorCommon(name);
43}
44
45MetaVrpnObject::MetaVrpnObject(std::string name,
46                               uint8_t id)
47    : VrpnObject(name, id, GetVrpnClient()->GetTabWidget()) {
48  ConstructorCommon( name);
49}
50
51void MetaVrpnObject::ConstructorCommon(string name) {
52  cvmatrix_descriptor *desc = new cvmatrix_descriptor(7, 1);
53  for (int i = 0; i < desc->Rows(); i++) {
54    desc->SetElementName(i, 0, Output()->Name(i, 0));
55  }
56  cvmatrix *prev_value = new cvmatrix(this, desc, floatType, name);
57  delete desc;
58
59  pbas = new LowPassFilter(this, GetVrpnClient()->GetLayout()->NewRow(),
60                           name + " Passe bas", prev_value);
61  delete prev_value;
62
63  desc = new cvmatrix_descriptor(7, 1);
64  for (int i = 0; i < desc->Rows(); i++) {
65    desc->SetElementName(i, 0, "d" + Output()->Name(i, 0));
66  }
67  prev_value = new cvmatrix(this, desc, floatType, name);
68  delete desc;
69
70  euler = new EulerDerivative(pbas, GetVrpnClient()->GetLayout()->NewRow(),
71                              name + "_euler", prev_value);
72  delete prev_value;
73
74  vx_opti_plot = new DataPlot1D(GetPlotTab()->NewRow(), "vx", -3, 3);
75  vx_opti_plot->AddCurve(euler->Matrix()->Element(4));
76  vy_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vy", -3, 3);
77  vy_opti_plot->AddCurve(euler->Matrix()->Element(5));
78  vz_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vz", -2, 2);
79  vz_opti_plot->AddCurve(euler->Matrix()->Element(6));
80
81  plot_tab = new Tab(GetVrpnClient()->GetTabWidget(), "Mesures (xy) " + name);
82  xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
83  xy_plot->AddCurve(Output()->Element(5, 0), Output()->Element(4, 0));
84}
85
86MetaVrpnObject::~MetaVrpnObject() { delete plot_tab; }
87
88DataPlot1D *MetaVrpnObject::VxPlot(void) const { return vx_opti_plot; }
89
90DataPlot1D *MetaVrpnObject::VyPlot(void) const { return vy_opti_plot; }
91
92DataPlot1D *MetaVrpnObject::VzPlot(void) const { return vz_opti_plot; }
93
94DataPlot2D *MetaVrpnObject::XyPlot(void) const { return xy_plot; }
95
96void MetaVrpnObject::GetSpeed(Vector3Df &speed) const {
97  speed.x = euler->Output(4, 0);
98  speed.y = euler->Output(5, 0);
99  speed.z = euler->Output(6, 0);
100}
101
102} // end namespace sensor
103} // end namespace framewor
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