source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject.cpp@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/04/03
//  filename:   VrpnObject.cpp
//
//  author:     César Richard, Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for VRPN object
//
//
/*********************************************************************/

#include "VrpnObject.h"
#include "VrpnObject_impl.h"
#include "VrpnClient.h"
#include <string.h>

#include <cvmatrix.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair
{
namespace sensor
{

VrpnObject::VrpnObject(const VrpnClient *parent,string name,const TabWidget* tab): IODevice(parent,name)
{
    pimpl_=new VrpnObject_impl(this,parent,name,-1,tab);
    AddDataToLog(pimpl_->output);
}

VrpnObject::VrpnObject(const VrpnClient *parent,string name,uint8_t id,const TabWidget* tab): IODevice(parent,name)
{
    Warn("Creation of object %s with id %i\n",name.c_str(),id);
    pimpl_=new VrpnObject_impl(this,parent,name,id,tab);
    AddDataToLog(pimpl_->output);
}

VrpnObject::~VrpnObject(void)
{
        delete pimpl_;
}

cvmatrix *VrpnObject::Output(void) const
{
    return pimpl_->output;
}

cvmatrix *VrpnObject::State(void) const
{
    return pimpl_->state;
}

Tab* VrpnObject::GetPlotTab(void) const
{
    return pimpl_->plot_tab;
}

DataPlot1D* VrpnObject::xPlot(void) const
{
    return pimpl_->x_plot;
}

DataPlot1D* VrpnObject::yPlot(void) const
{
    return pimpl_->y_plot;
}

DataPlot1D* VrpnObject::zPlot(void) const
{
    return pimpl_->z_plot;
}

Time VrpnObject::GetLastPacketTime(void) const
{
        return pimpl_->output->DataTime();
}

bool VrpnObject::IsTracked(unsigned int timeout_ms) const
{
    return pimpl_->IsTracked(timeout_ms);
}

void VrpnObject::GetEuler(Euler &euler) const
{
    pimpl_->GetEuler(euler);
}

void VrpnObject::GetQuaternion(Quaternion &quaternion) const {
    pimpl_->GetQuaternion(quaternion);
}

void VrpnObject::GetPosition(Vector3D &point) const
{
    pimpl_->GetPosition(point);
}

void VrpnObject::mainloop(void)
{
    pimpl_->mainloop();
}

} // end namespace sensor
} // end namespace flair