source: flair-src/trunk/lib/FlairSensorActuator/src/NEDPosition.h@ 425

Last change on this file since 425 was 425, checked in by Sanahuja Guillaume, 21 months ago

add nedposition sensor

  • Property svn:eol-style set to native
File size: 2.6 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 NEDPosition.h
7 * \brief Class for a NED position sensor
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
9 * 7253
10 * \date 2021/05/20
11 * \version 4.0
12 */
13
14#ifndef NEDPOSITION_H
15#define NEDPOSITION_H
16
17#include <IODevice.h>
18#include <VrpnClient.h>
19#include <Vector3D.h>
20#include <stdint.h>
21
22namespace flair {
23 namespace core {
24 class Matrix;
25 }
26 namespace gui {
27 class TabWidget;
28 class Tab;
29 class DataPlot1D;
30 }
31}
32
33class NEDPosition_impl;
34
35namespace flair {
36namespace sensor {
37
38/*! \class NEDPosition
39*
40* \brief Class for a NED position sensor.
41*/
42class NEDPosition : public core::IODevice {
43
44
45public:
46 /*!
47 * \brief Constructor
48 *
49 * Construct a NEDPosition.
50 *
51 * \param name
52 */
53 NEDPosition(std::string name);
54
55 /*!
56 * \brief Destructor
57 *
58 */
59 ~NEDPosition(void);
60
61 /*!
62 * \brief Plot tab
63 *
64 * \return plot Tab
65 */
66 gui::Tab *GetPlotTab(void) const;
67
68 /*!
69 * \brief Get Position
70 *
71 * \param point output datas
72 */
73 void GetPosition(core::Vector3Df &point) const;
74
75 /*!
76 * \brief Get Position
77 *
78 * \param point output datas
79 */
80 void GetVelocity(core::Vector3Df &point) const;
81
82 /*!
83 * \brief Output matrix
84 *
85 * Matrix is of type float and as follows: \n
86 * (0,0) x \n
87 * (1,0) y \n
88 * (2,0) z \n
89 * (3,0) vx \n
90 * (4,0) vy \n
91 * (5,0) vz \n
92 *
93 * \return Output matrix
94 */
95 core::Matrix *Output(void) const;
96
97 /*!
98 * \brief x plot
99 *
100 * \return x plot
101 */
102 gui::DataPlot1D *xPlot(void) const;
103
104 /*!
105 * \brief y plot
106 *
107 * \return y plot
108 */
109 gui::DataPlot1D *yPlot(void) const;
110
111 /*!
112 * \brief z plot
113 *
114 * \return z plot
115 */
116 gui::DataPlot1D *zPlot(void) const;
117
118 /*!
119 * \brief vx plot
120 *
121 * \return vx plot
122 */
123 gui::DataPlot1D *vxPlot(void) const;
124
125 /*!
126 * \brief vy plot
127 *
128 * \return vy plot
129 */
130 gui::DataPlot1D *vyPlot(void) const;
131
132 /*!
133 * \brief vz plot
134 *
135 * \return vz plot
136 */
137 gui::DataPlot1D *vzPlot(void) const;
138
139protected:
140 /*!
141 * \brief Set datas and call process update
142 *
143 * \param position position
144 * \param velocity velocity
145 * \param time time
146 */
147 void SetDatas(const core::Vector3Df &position,const core::Vector3Df &velocity,const core::Time time);
148
149
150private:
151 /*!
152 * \brief Update using provided datas
153 *
154 * Reimplemented from IODevice.
155 *
156 * \param data data from the parent to process
157 */
158 void UpdateFrom(const core::io_data *data){};
159
160 class NEDPosition_impl *pimpl_;
161};
162} // end namespace sensor
163} // end namespace flair
164#endif // NEDPOSITION_H
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