source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject.h@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 6 years ago

modifs uav vrpn i686

File size: 3.4 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 VrpnObject.h
7 * \brief Class for VRPN object
8 * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
9 * 7253
10 * \date 2013/04/03
11 * \version 4.0
12 */
13
14#ifndef VRPNOBJECT_H
15#define VRPNOBJECT_H
16
17#include <IODevice.h>
18#include <stdint.h>
19
20namespace flair {
21 namespace core {
22 class cvmatrix;
23 class Vector3D;
24 class Euler;
25 class Quaternion;
26 }
27 namespace gui {
28 class TabWidget;
29 class Tab;
30 class DataPlot1D;
31 }
32}
33
34class VrpnObject_impl;
35class VrpnClient_impl;
36
37namespace flair {
38namespace sensor {
39class VrpnClient;
40
41/*! \class VrpnObject
42*
43* \brief Class for VRPN object. The IODevice is created with
44* the VrpnClient as parent. VrpnClient must be created before.
45*/
46class VrpnObject : public core::IODevice {
47 friend class ::VrpnObject_impl;
48 friend class ::VrpnClient_impl;
49
50public:
51 /*!
52 * \brief Constructor
53 *
54 * Construct a VrpnObject. Connection is done by IP.
55 *
56 * \param name VRPN object name, should be the same as defined in the server
57 * \param tab Tab for the user interface
58 */
59 VrpnObject(std::string name,
60 const gui::TabWidget *tab);
61
62 /*!
63 * \brief Constructor
64 *
65 * Construct a VrpnObject. Connection is done by IP.
66 *
67 * \param name name
68 * \param id VRPN object id, should be the same as defined in the server
69 * \param tab Tab for the user interface
70 */
71 VrpnObject(std::string name, uint8_t id,
72 const gui::TabWidget *tab);
73
74 /*!
75 * \brief Destructor
76 *
77 */
78 ~VrpnObject(void);
79
80 /*!
81 * \brief Plot tab
82 *
83 * \return plot Tab
84 */
85 gui::Tab *GetPlotTab(void) const;
86
87 /*!
88 * \brief Get Last Packet Time
89 *
90 * \return Time of last received packe
91 */
92 core::Time GetLastPacketTime(void) const;
93
94 /*!
95 * \brief Is object tracked?
96 *
97 * \param timeout_ms timeout
98 * \return true if object is tracked during timeout_ms time
99 */
100 bool IsTracked(unsigned int timeout_ms) const;
101
102 /*!
103 * \brief Get Euler angles
104 *
105 * \param euler output datas
106 */
107 void GetEuler(core::Euler &euler) const;
108
109 /*!
110 * \brief Get Quaternion
111 *
112 * \param quaternion output datas
113 */
114 void GetQuaternion(core::Quaternion &quaternion) const;
115 /*!
116 * \brief Get Position
117 *
118 * \param point output datas
119 */
120 void GetPosition(core::Vector3D &point) const;
121
122 /*!
123 * \brief Output matrix
124 *
125 * Matrix is of type float and as follows: \n
126 * (0,0) roll (rad) \n
127 * (1,0) pitch (rad) \n
128 * (2,0) yaw (rad) \n
129 * (3,0) x \n
130 * (4,0) y \n
131 * (5,0) z \n
132 *
133 * \return Output metrix
134 */
135 core::cvmatrix *Output(void) const;
136
137 /*!
138 * \brief State matrix
139 *
140 * Matrix is of type float and as follows: \n
141 * (0,0) roll (deg) \n
142 * (1,0) pitch (deg) \n
143 * (2,0) yaw (deg) \n
144 *
145 * \return State metrix
146 */
147 core::cvmatrix *State(void) const;
148
149 /*!
150 * \brief x plot
151 *
152 * \return x plot
153 */
154 gui::DataPlot1D *xPlot(void) const;
155
156 /*!
157 * \brief y plot
158 *
159 * \return y plot
160 */
161 gui::DataPlot1D *yPlot(void) const;
162
163 /*!
164 * \brief z plot
165 *
166 * \return z plot
167 */
168 gui::DataPlot1D *zPlot(void) const;
169
170private:
171 /*!
172 * \brief Update using provided datas
173 *
174 * Reimplemented from IODevice.
175 *
176 * \param data data from the parent to process
177 */
178 void UpdateFrom(const core::io_data *data){};
179
180 void mainloop(void);
181 class VrpnObject_impl *pimpl_;
182};
183} // end namespace sensor
184} // end namespace flair
185#endif // VRPNOBJECT_H
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