source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 2.1 KB
RevLine 
[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"
20#include "VrpnClient.h"
21#include <string.h>
22
23#include <cvmatrix.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28
[15]29namespace flair {
30namespace sensor {
[3]31
[122]32VrpnObject::VrpnObject(string name,
[15]33                       const TabWidget *tab)
[122]34    : IODevice(GetVrpnClient(), name) {
35  pimpl_ = new VrpnObject_impl(this, name, -1, tab);
[15]36  AddDataToLog(pimpl_->output);
[157]37 
38  SetIsReady(true);
[3]39}
40
[122]41VrpnObject::VrpnObject(string name, uint8_t id,
[15]42                       const TabWidget *tab)
[122]43    : IODevice(GetVrpnClient(), name) {
[15]44  Warn("Creation of object %s with id %i\n", name.c_str(), id);
[122]45  pimpl_ = new VrpnObject_impl(this, name, id, tab);
[15]46  AddDataToLog(pimpl_->output);
[157]47 
48  SetIsReady(true);
[3]49}
50
[140]51VrpnObject::~VrpnObject(void) { 
52  delete pimpl_;
53}
[3]54
[15]55cvmatrix *VrpnObject::Output(void) const { return pimpl_->output; }
[3]56
[15]57cvmatrix *VrpnObject::State(void) const { return pimpl_->state; }
[3]58
[15]59Tab *VrpnObject::GetPlotTab(void) const { return pimpl_->plot_tab; }
[3]60
[15]61DataPlot1D *VrpnObject::xPlot(void) const { return pimpl_->x_plot; }
[3]62
[15]63DataPlot1D *VrpnObject::yPlot(void) const { return pimpl_->y_plot; }
[3]64
[15]65DataPlot1D *VrpnObject::zPlot(void) const { return pimpl_->z_plot; }
[3]66
[15]67Time VrpnObject::GetLastPacketTime(void) const {
68  return pimpl_->output->DataTime();
[3]69}
70
[15]71bool VrpnObject::IsTracked(unsigned int timeout_ms) const {
72  return pimpl_->IsTracked(timeout_ms);
[3]73}
74
75void VrpnObject::GetQuaternion(Quaternion &quaternion) const {
[15]76  pimpl_->GetQuaternion(quaternion);
[3]77}
78
[167]79void VrpnObject::GetPosition(Vector3Df &point) const {
[15]80  pimpl_->GetPosition(point);
[3]81}
82
83} // end namespace sensor
84} // end namespace flair
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