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

Last change on this file was 432, checked in by Sanahuja Guillaume, 5 months ago

add AltitudeSensor? class
failsafe altitude sensor in changeable

File size: 2.0 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]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>
[286]17#include <VrpnClient.h>
[167]18#include <io_data.h>
19#include <Vector3D.h>
[7]20
[15]21namespace flair {
[122]22        namespace gui {
23                class DataPlot1D;
24                class DataPlot2D;
25                class Tab;
26        }
27        namespace filter {
28                class EulerDerivative;
29                class LowPassFilter;
30        }
[432]31  namespace sensor {
32    class AltitudeSensor;
33  }
[7]34}
35
[15]36namespace flair {
37namespace meta {
[7]38
[15]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:
[286]47  MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient());
48  MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient());
[15]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;
[167]54  void GetSpeed(core::Vector3Df &speed) const;
[420]55  filter::EulerDerivative* GetEulerDerivative(void) const;
[432]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;
[7]62
[15]63private:
[286]64  void ConstructorCommon(std::string name,sensor::VrpnClient *client);
[15]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;
[432]70  sensor::AltitudeSensor *altitudeSensor;
[15]71};
[7]72} // end namespace meta
73} // end namespace flair
[15]74#endif // METAVRPNOBJECT_H
Note: See TracBrowser for help on using the repository browser.