| 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 VrpnObject.h
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| 7 | * \brief Class for VRPN object
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| 8 | * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/04/03
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef VRPNOBJECT_H
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| 14 | #define VRPNOBJECT_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <stdint.h>
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| 18 |
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| 19 | namespace flair
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| 20 | {
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| 21 | namespace core
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| 22 | {
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| 23 | class cvmatrix;
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| 24 | class Vector3D;
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| 25 | class Euler;
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| 26 | class Quaternion;
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| 27 | }
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| 28 | namespace gui
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| 29 | {
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| 30 | class TabWidget;
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| 31 | class Tab;
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| 32 | class DataPlot1D;
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| 33 | }
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| 34 | }
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| 35 |
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| 36 | class VrpnObject_impl;
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| 37 | class VrpnClient_impl;
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| 38 |
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| 39 | namespace flair
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| 40 | {
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| 41 | namespace sensor
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| 42 | {
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| 43 | class VrpnClient;
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| 44 |
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| 45 | /*! \class VrpnObject
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| 46 | *
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| 47 | * \brief Class for VRPN object
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| 48 | */
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| 49 | class VrpnObject: public core::IODevice
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| 50 | {
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| 51 | friend class ::VrpnObject_impl;
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| 52 | friend class ::VrpnClient_impl;
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| 53 |
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| 54 | public:
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| 55 | /*!
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| 56 | * \brief Constructor
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| 57 | *
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| 58 | * Construct a VrpnObject. Connection is done by IP.
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| 59 | *
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| 60 | * \param parent parent
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| 61 | * \param name VRPN object name, should be the same as defined in the server
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| 62 | * \param tab Tab for the user interface
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| 63 | */
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| 64 | VrpnObject(const VrpnClient *parent,std::string name,const gui::TabWidget* tab);
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| 65 |
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| 66 | /*!
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| 67 | * \brief Constructor
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| 68 | *
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| 69 | * Construct a VrpnObject. Connection is done by IP.
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| 70 | *
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| 71 | * \param parent parent
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| 72 | * \param name name
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| 73 | * \param id VRPN object id, should be the same as defined in the server
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| 74 | * \param tab Tab for the user interface
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| 75 | */
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| 76 | VrpnObject(const VrpnClient *parent,std::string name,uint8_t id,const gui::TabWidget* tab);
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| 77 |
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| 78 | /*!
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| 79 | * \brief Destructor
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| 80 | *
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| 81 | */
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| 82 | ~VrpnObject(void);
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| 83 |
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| 84 | /*!
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| 85 | * \brief Plot tab
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| 86 | *
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| 87 | * \return plot Tab
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| 88 | */
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| 89 | gui::Tab* GetPlotTab(void) const;
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| 90 |
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| 91 | /*!
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| 92 | * \brief Get Last Packet Time
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| 93 | *
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| 94 | * \return Time of last received packe
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| 95 | */
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| 96 | core::Time GetLastPacketTime(void) const;
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| 97 |
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| 98 | /*!
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| 99 | * \brief Is object tracked?
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| 100 | *
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| 101 | * \param timeout_ms timeout
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| 102 | * \return true if object is tracked during timeout_ms time
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| 103 | */
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| 104 | bool IsTracked(unsigned int timeout_ms) const;
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| 105 |
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| 106 | /*!
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| 107 | * \brief Get Euler angles
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| 108 | *
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| 109 | * \param euler output datas
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| 110 | */
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| 111 | void GetEuler(core::Euler &euler) const;
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| 112 |
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| 113 | /*!
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| 114 | * \brief Get Quaternion
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| 115 | *
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| 116 | * \param quaternion output datas
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| 117 | */
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| 118 | void GetQuaternion(core::Quaternion &quaternion) const;
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| 119 | /*!
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| 120 | * \brief Get Position
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| 121 | *
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| 122 | * \param point output datas
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| 123 | */
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| 124 | void GetPosition(core::Vector3D &point) const;
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| 125 |
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| 126 | /*!
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| 127 | * \brief Output matrix
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| 128 | *
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| 129 | * Matrix is of type float and as follows: \n
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| 130 | * (0,0) roll (rad) \n
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| 131 | * (1,0) pitch (rad) \n
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| 132 | * (2,0) yaw (rad) \n
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| 133 | * (3,0) x \n
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| 134 | * (4,0) y \n
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| 135 | * (5,0) z \n
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| 136 | *
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| 137 | * \return Output metrix
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| 138 | */
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| 139 | core::cvmatrix *Output(void) const;
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| 140 |
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| 141 | /*!
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| 142 | * \brief State matrix
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| 143 | *
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| 144 | * Matrix is of type float and as follows: \n
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| 145 | * (0,0) roll (deg) \n
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| 146 | * (1,0) pitch (deg) \n
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| 147 | * (2,0) yaw (deg) \n
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| 148 | *
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| 149 | * \return State metrix
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| 150 | */
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| 151 | core::cvmatrix *State(void) const;
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| 152 |
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| 153 | /*!
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| 154 | * \brief x plot
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| 155 | *
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| 156 | * \return x plot
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| 157 | */
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| 158 | gui::DataPlot1D* xPlot(void) const;
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| 159 |
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| 160 | /*!
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| 161 | * \brief y plot
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| 162 | *
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| 163 | * \return y plot
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| 164 | */
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| 165 | gui::DataPlot1D* yPlot(void) const;
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| 166 |
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| 167 | /*!
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| 168 | * \brief z plot
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| 169 | *
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| 170 | * \return z plot
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| 171 | */
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| 172 | gui::DataPlot1D* zPlot(void) const;
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| 173 |
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| 174 | private:
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| 175 | /*!
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| 176 | * \brief Update using provided datas
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| 177 | *
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| 178 | * Reimplemented from IODevice.
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| 179 | *
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| 180 | * \param data data from the parent to process
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| 181 | */
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| 182 | void UpdateFrom(const core::io_data *data){};
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| 183 |
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| 184 | void mainloop(void);
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| 185 | class VrpnObject_impl* pimpl_;
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| 186 | };
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| 187 | } // end namespace sensor
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| 188 | } // end namespace flair
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| 189 | #endif // VRPNOBJECT_H
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