source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject.h@ 214

Last change on this file since 214 was 214, checked in by Sanahuja Guillaume, 4 years ago

matrix

File size: 3.3 KB
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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 <Vector3D.h>
19#include <stdint.h>
20
21namespace flair {
22 namespace core {
23 class Matrix;
24 class Quaternion;
25 }
26 namespace gui {
27 class TabWidget;
28 class Tab;
29 class DataPlot1D;
30 }
31}
32
33class VrpnObject_impl;
34class VrpnClient_impl;
35
36namespace flair {
37namespace sensor {
38class VrpnClient;
39
40/*! \class VrpnObject
41*
42* \brief Class for VRPN object. The IODevice is created with
43* the VrpnClient as parent. VrpnClient must be created before.
44*/
45class VrpnObject : public core::IODevice {
46 friend class ::VrpnObject_impl;
47 friend class ::VrpnClient_impl;
48
49public:
50 /*!
51 * \brief Constructor
52 *
53 * Construct a VrpnObject. Connection is done by IP.
54 *
55 * \param name VRPN object name, should be the same as defined in the server
56 * \param tab Tab for the user interface
57 */
58 VrpnObject(std::string name,
59 const gui::TabWidget *tab);
60
61 /*!
62 * \brief Constructor
63 *
64 * Construct a VrpnObject. Connection is done by IP.
65 *
66 * \param name name
67 * \param id VRPN object id, should be the same as defined in the server
68 * \param tab Tab for the user interface
69 */
70 VrpnObject(std::string name, uint8_t id,
71 const gui::TabWidget *tab);
72
73 /*!
74 * \brief Destructor
75 *
76 */
77 ~VrpnObject(void);
78
79 /*!
80 * \brief Plot tab
81 *
82 * \return plot Tab
83 */
84 gui::Tab *GetPlotTab(void) const;
85
86 /*!
87 * \brief Get Last Packet Time
88 *
89 * \return Time of last received packe
90 */
91 core::Time GetLastPacketTime(void) const;
92
93 /*!
94 * \brief Is object tracked?
95 *
96 * \param timeout_ms timeout
97 * \return true if object is tracked during timeout_ms time
98 */
99 bool IsTracked(unsigned int timeout_ms) const;
100
101 /*!
102 * \brief Get Quaternion
103 *
104 * \param quaternion output datas
105 */
106 void GetQuaternion(core::Quaternion &quaternion) const;
107 /*!
108 * \brief Get Position
109 *
110 * \param point output datas
111 */
112 void GetPosition(core::Vector3Df &point) const;
113
114 /*!
115 * \brief Output matrix
116 *
117 * Matrix is of type float and as follows: \n
118 * (0,0) q0 \n
119 * (1,0) q1 \n
120 * (2,0) q2 \n
121 * (3,0) q3 \n
122 * (4,0) x \n
123 * (5,0) y \n
124 * (6,0) z \n
125 *
126 * \return Output matrix
127 */
128 core::Matrix *Output(void) const;
129
130 /*!
131 * \brief State matrix
132 *
133 * Used for plotting on ground station. \n
134 * Matrix is of type float and as follows: \n
135 * (0,0) roll (deg) \n
136 * (1,0) pitch (deg) \n
137 * (2,0) yaw (deg) \n
138 *
139 * \return State matrix
140 */
141 core::Matrix *State(void) const;
142
143 /*!
144 * \brief x plot
145 *
146 * \return x plot
147 */
148 gui::DataPlot1D *xPlot(void) const;
149
150 /*!
151 * \brief y plot
152 *
153 * \return y plot
154 */
155 gui::DataPlot1D *yPlot(void) const;
156
157 /*!
158 * \brief z plot
159 *
160 * \return z plot
161 */
162 gui::DataPlot1D *zPlot(void) const;
163
164private:
165 /*!
166 * \brief Update using provided datas
167 *
168 * Reimplemented from IODevice.
169 *
170 * \param data data from the parent to process
171 */
172 void UpdateFrom(const core::io_data *data){};
173
174 class VrpnObject_impl *pimpl_;
175};
176} // end namespace sensor
177} // end namespace flair
178#endif // VRPNOBJECT_H
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