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

Last change on this file was 432, checked in by Sanahuja Guillaume, 17 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
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