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
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9 | * 7253
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10 | * \date 2013/04/03
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11 | * \version 4.0
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12 | */
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13 |
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14 | #ifndef VRPNOBJECT_H
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15 | #define VRPNOBJECT_H
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16 |
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17 | #include <IODevice.h>
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18 | #include <VrpnClient.h>
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19 | #include <Vector3D.h>
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20 | #include <stdint.h>
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21 |
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22 | namespace flair {
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23 | namespace core {
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24 | class Matrix;
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25 | class Quaternion;
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26 | }
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27 | namespace gui {
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28 | class TabWidget;
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29 | class Tab;
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30 | class DataPlot1D;
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31 | }
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32 | }
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33 |
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34 | class VrpnObject_impl;
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35 |
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36 | namespace flair {
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37 | namespace sensor {
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38 | class VrpnClient;
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39 |
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40 | /*! \class VrpnObject
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41 | *
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42 | * \brief Class for VRPN object. The IODevice is created with
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43 | * the VrpnClient as parent. VrpnClient must be created before.
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44 | */
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45 | class VrpnObject : public core::IODevice {
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46 | friend class ::VrpnObject_impl;
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47 |
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48 | public:
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49 | /*!
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50 | * \brief Constructor
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51 | *
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52 | * Construct a VrpnObject. Connection is done by IP with vrpn or vrpnlite (see tools/VrpnLite in flair-src)
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53 | *
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54 | * \param name VRPN object name, should be the same as defined in the server
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55 | * \param tab Tab for the user interface
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56 | * \param client VrpnClient of the connection, if unspecified, use the default one
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57 | */
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58 | VrpnObject(std::string name,
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59 | const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient());
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60 |
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61 | /*!
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62 | * \brief Constructor
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63 | *
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64 | * Construct a VrpnObject. Connection is done by xbee
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65 | *
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66 | * \param name name
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67 | * \param id VRPN object id, should be the same as defined in the xbee bridge
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68 | * \param tab Tab for the user interface
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69 | * \param client VrpnClient of the connection, if unspecified, use the default one
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70 | */
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71 | VrpnObject(std::string name, uint8_t id,
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72 | const gui::TabWidget *tab,sensor::VrpnClient *client=GetVrpnClient());
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73 |
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74 | /*!
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75 | * \brief Destructor
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76 | *
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77 | */
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78 | ~VrpnObject(void);
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79 |
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80 | /*!
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81 | * \brief Plot tab
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82 | *
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83 | * \return plot Tab
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84 | */
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85 | gui::Tab *GetPlotTab(void) const;
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86 |
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87 | /*!
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88 | * \brief Get Last Packet Time
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89 | *
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90 | * \return Time of last received packet
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91 | */
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92 | core::Time GetLastPacketTime(void) const;
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93 |
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94 | /*!
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95 | * \brief Is object tracked?
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96 | *
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97 | * \param timeout_ms timeout
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98 | * \return true if object is tracked during timeout_ms time
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99 | */
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100 | bool IsTracked(unsigned int timeout_ms) const;
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101 |
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102 | /*!
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103 | * \brief Get Quaternion
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104 | *
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105 | * \param quaternion output datas
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106 | */
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107 | void GetQuaternion(core::Quaternion &quaternion) const;
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108 | /*!
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109 | * \brief Get Position
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110 | *
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111 | * \param point output datas
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112 | */
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113 | void GetPosition(core::Vector3Df &point) const;
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114 |
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115 | /*!
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116 | * \brief Output matrix
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117 | *
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118 | * Matrix is of type float and as follows: \n
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119 | * (0,0) q0 \n
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120 | * (1,0) q1 \n
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121 | * (2,0) q2 \n
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122 | * (3,0) q3 \n
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123 | * (4,0) x \n
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124 | * (5,0) y \n
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125 | * (6,0) z \n
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126 | *
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127 | * \return Output matrix
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128 | */
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129 | core::Matrix *Output(void) const;
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130 |
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131 | /*!
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132 | * \brief State matrix
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133 | *
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134 | * Used for plotting on ground station. \n
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135 | * Matrix is of type float and as follows: \n
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136 | * (0,0) roll (deg) \n
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137 | * (1,0) pitch (deg) \n
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138 | * (2,0) yaw (deg) \n
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139 | *
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140 | * \return State matrix
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141 | */
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142 | core::Matrix *State(void) const;
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143 |
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144 | /*!
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145 | * \brief x plot
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146 | *
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147 | * \return x plot
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148 | */
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149 | gui::DataPlot1D *xPlot(void) const;
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150 |
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151 | /*!
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152 | * \brief y plot
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153 | *
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154 | * \return y plot
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155 | */
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156 | gui::DataPlot1D *yPlot(void) const;
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157 |
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158 | /*!
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159 | * \brief z plot
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160 | *
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161 | * \return z plot
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162 | */
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163 | gui::DataPlot1D *zPlot(void) const;
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164 |
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165 | private:
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166 | /*!
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167 | * \brief Update using provided datas
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168 | *
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169 | * Reimplemented from IODevice.
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170 | *
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171 | * \param data data from the parent to process
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172 | */
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173 | void UpdateFrom(const core::io_data *data){};
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174 |
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175 | class VrpnObject_impl *pimpl_;
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176 | };
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177 | } // end namespace sensor
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178 | } // end namespace flair
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179 | #endif // VRPNOBJECT_H
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