source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject.cpp

Last change on this file was 426, checked in by Sanahuja Guillaume, 5 months ago

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File size: 2.1 KB
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[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5//  created:    2013/04/03
6//  filename:   VrpnObject.cpp
7//
[122]8//  author:     César Richard, Guillaume Sanahuja
[3]9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for VRPN object
14//
15//
16/*********************************************************************/
17
18#include "VrpnObject.h"
19#include "VrpnObject_impl.h"
[214]20#include <Matrix.h>
[3]21
22using std::string;
23using namespace flair::core;
24using namespace flair::gui;
25
[15]26namespace flair {
27namespace sensor {
[3]28
[122]29VrpnObject::VrpnObject(string name,
[286]30                       const TabWidget *tab,VrpnClient *client)
31    : IODevice(client, name) {
32  pimpl_ = new VrpnObject_impl(this, name, -1, tab,client);
[15]33  AddDataToLog(pimpl_->output);
[157]34 
35  SetIsReady(true);
[3]36}
37
[122]38VrpnObject::VrpnObject(string name, uint8_t id,
[286]39                       const TabWidget *tab,VrpnClient *client)
40    : IODevice(client, name) {
[15]41  Warn("Creation of object %s with id %i\n", name.c_str(), id);
[286]42  pimpl_ = new VrpnObject_impl(this, name, id, tab,client);
[15]43  AddDataToLog(pimpl_->output);
[157]44 
45  SetIsReady(true);
[3]46}
47
[140]48VrpnObject::~VrpnObject(void) { 
49  delete pimpl_;
50}
[3]51
[214]52Matrix *VrpnObject::Output(void) const { return pimpl_->output; }
[3]53
[214]54Matrix *VrpnObject::State(void) const { return pimpl_->state; }
[3]55
[15]56Tab *VrpnObject::GetPlotTab(void) const { return pimpl_->plot_tab; }
[3]57
[15]58DataPlot1D *VrpnObject::xPlot(void) const { return pimpl_->x_plot; }
[3]59
[15]60DataPlot1D *VrpnObject::yPlot(void) const { return pimpl_->y_plot; }
[3]61
[15]62DataPlot1D *VrpnObject::zPlot(void) const { return pimpl_->z_plot; }
[3]63
[15]64Time VrpnObject::GetLastPacketTime(void) const {
65  return pimpl_->output->DataTime();
[3]66}
67
[15]68bool VrpnObject::IsTracked(unsigned int timeout_ms) const {
69  return pimpl_->IsTracked(timeout_ms);
[3]70}
71
72void VrpnObject::GetQuaternion(Quaternion &quaternion) const {
[15]73  pimpl_->GetQuaternion(quaternion);
[3]74}
75
[167]76void VrpnObject::GetPosition(Vector3Df &point) const {
[15]77  pimpl_->GetPosition(point);
[3]78}
79
80} // end namespace sensor
81} // end namespace flair
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