[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[7] | 5 | /*!
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| 6 | * \file MetaVrpnObject.h
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| 7 | * \brief Classe haut niveau intégrant un objet VRPN
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/04/08
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| 10 | * \version 3.4
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| 11 | */
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| 12 |
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| 13 | #ifndef METAVRPNOBJECT_H
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| 14 | #define METAVRPNOBJECT_H
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| 15 |
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| 16 | #include <VrpnObject.h>
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[286] | 17 | #include <VrpnClient.h>
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[167] | 18 | #include <io_data.h>
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| 19 | #include <Vector3D.h>
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[7] | 20 |
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[15] | 21 | namespace flair {
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[122] | 22 | namespace gui {
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| 23 | class DataPlot1D;
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| 24 | class DataPlot2D;
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| 25 | class Tab;
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| 26 | }
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| 27 | namespace filter {
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| 28 | class EulerDerivative;
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| 29 | class LowPassFilter;
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| 30 | }
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[7] | 31 | }
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| 32 |
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[15] | 33 | namespace flair {
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| 34 | namespace meta {
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[7] | 35 |
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[15] | 36 | /*! \class MetaVrpnObject
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| 37 | *
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| 38 | * \brief Classe haut niveau intégrant un objet VRPN
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| 39 | *
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| 40 | * Contient un objet VRPN et une dérivée, d'euler.
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| 41 | */
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| 42 | class MetaVrpnObject : public sensor::VrpnObject {
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| 43 | public:
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[286] | 44 | MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient());
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| 45 | MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient());
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[15] | 46 | ~MetaVrpnObject();
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| 47 | gui::DataPlot1D *VxPlot(void) const; // 1,0
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| 48 | gui::DataPlot1D *VyPlot(void) const; // 1,1
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| 49 | gui::DataPlot1D *VzPlot(void) const; // 1,2
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| 50 | gui::DataPlot2D *XyPlot(void) const;
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[167] | 51 | void GetSpeed(core::Vector3Df &speed) const;
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[420] | 52 | filter::EulerDerivative* GetEulerDerivative(void) const;
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[7] | 53 |
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[15] | 54 | private:
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[286] | 55 | void ConstructorCommon(std::string name,sensor::VrpnClient *client);
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[15] | 56 | filter::LowPassFilter *pbas;
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| 57 | filter::EulerDerivative *euler;
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| 58 | gui::DataPlot2D *xy_plot;
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| 59 | gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot;
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| 60 | gui::Tab *plot_tab;
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| 61 | };
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[7] | 62 | } // end namespace meta
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| 63 | } // end namespace flair
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[15] | 64 | #endif // METAVRPNOBJECT_H
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