| 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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| 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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| 17 | #include <VrpnClient.h>
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| 18 | #include <io_data.h>
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| 19 | #include <Vector3D.h>
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| 20 |
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| 21 | namespace flair {
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| 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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| 31 | namespace sensor {
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| 32 | class AltitudeSensor;
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| 33 | }
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| 34 | }
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| 35 |
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| 36 | namespace flair {
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| 37 | namespace meta {
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| 38 |
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| 39 | /*! \class MetaVrpnObject
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| 40 | *
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| 41 | * \brief Classe haut niveau intégrant un objet VRPN
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| 42 | *
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| 43 | * Contient un objet VRPN et une dérivée, d'euler.
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| 44 | */
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| 45 | class MetaVrpnObject : public sensor::VrpnObject {
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| 46 | public:
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| 47 | MetaVrpnObject(std::string name,sensor::VrpnClient *client=sensor::GetVrpnClient());
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| 48 | MetaVrpnObject(std::string name,uint8_t id,sensor::VrpnClient *client=sensor::GetVrpnClient());
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| 49 | ~MetaVrpnObject();
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| 50 | gui::DataPlot1D *VxPlot(void) const; // 1,0
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| 51 | gui::DataPlot1D *VyPlot(void) const; // 1,1
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| 52 | gui::DataPlot1D *VzPlot(void) const; // 1,2
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| 53 | gui::DataPlot2D *XyPlot(void) const;
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| 54 | void GetSpeed(core::Vector3Df &speed) const;
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| 55 | filter::EulerDerivative* GetEulerDerivative(void) const;
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| 56 | //get the associated AltitudeSensor
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| 57 | //MetaVrpnObject do not derivate from AltitudeSensor because frames are differents
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| 58 | //and this could be confusing
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| 59 | //MetaVrpnObject is in vrpn frame (earth)
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| 60 | //AltitudeSensor is in uav frame
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| 61 | sensor::AltitudeSensor *GetAltitudeSensor(void) const;
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| 62 |
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| 63 | private:
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| 64 | void ConstructorCommon(std::string name,sensor::VrpnClient *client);
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| 65 | filter::LowPassFilter *pbas;
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| 66 | filter::EulerDerivative *euler;
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| 67 | gui::DataPlot2D *xy_plot;
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| 68 | gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot;
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| 69 | gui::Tab *plot_tab;
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| 70 | sensor::AltitudeSensor *altitudeSensor;
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| 71 | };
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| 72 | } // end namespace meta
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| 73 | } // end namespace flair
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| 74 | #endif // METAVRPNOBJECT_H
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