source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.h

Last change on this file was 432, checked in by Sanahuja Guillaume, 4 months ago

add AltitudeSensor? class
failsafe altitude sensor in changeable

File size: 2.0 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/*!
6 * \file MetaVrpnObject.h
7 * \brief Classe haut niveau intégrant un objet VRPN
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/04/08
10 * \version 3.4
11 */
12
13#ifndef METAVRPNOBJECT_H
14#define METAVRPNOBJECT_H
15
16#include <VrpnObject.h>
17#include <VrpnClient.h>
18#include <io_data.h>
19#include <Vector3D.h>
20
21namespace flair {
22        namespace gui {
23                class DataPlot1D;
24                class DataPlot2D;
25                class Tab;
26        }
27        namespace filter {
28                class EulerDerivative;
29                class LowPassFilter;
30        }
31  namespace sensor {
32    class AltitudeSensor;
33  }
34}
35
36namespace flair {
37namespace meta {
38
39/*! \class MetaVrpnObject
40*
41* \brief Classe haut niveau intégrant un objet VRPN
42*
43* Contient un objet VRPN et une dérivée, d'euler.
44*/
45class MetaVrpnObject : public sensor::VrpnObject {
46public:
47  MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient());
48  MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient());
49  ~MetaVrpnObject();
50  gui::DataPlot1D *VxPlot(void) const; // 1,0
51  gui::DataPlot1D *VyPlot(void) const; // 1,1
52  gui::DataPlot1D *VzPlot(void) const; // 1,2
53  gui::DataPlot2D *XyPlot(void) const;
54  void GetSpeed(core::Vector3Df &speed) const;
55  filter::EulerDerivative* GetEulerDerivative(void) const;
56  //get the associated AltitudeSensor
57  //MetaVrpnObject do not derivate from AltitudeSensor because frames are differents
58  //and this could be confusing
59  //MetaVrpnObject is in vrpn frame (earth)
60  //AltitudeSensor is in uav frame
61  sensor::AltitudeSensor *GetAltitudeSensor(void) const;
62
63private:
64  void ConstructorCommon(std::string name,sensor::VrpnClient *client);
65  filter::LowPassFilter *pbas;
66  filter::EulerDerivative *euler;
67  gui::DataPlot2D *xy_plot;
68  gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot;
69  gui::Tab *plot_tab;
70  sensor::AltitudeSensor *altitudeSensor;
71};
72} // end namespace meta
73} // end namespace flair
74#endif // METAVRPNOBJECT_H
Note: See TracBrowser for help on using the repository browser.