source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnClient_impl.h@ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.3 KB
RevLine 
[3]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// created: 2013/04/03
6// filename: VrpnClient_impl.h
7//
8// author: César Richard, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet se connectant au serveur vrpn
14//
15//
16/*********************************************************************/
17
18#ifndef VRPNCLIENT_IMPL_H
19#define VRPNCLIENT_IMPL_H
20
21#include <string>
22#include <vector>
23
24namespace flair
25{
26 namespace core
27 {
28 class OneAxisRotation;
29 class Vector3D;
30 class Quaternion;
31 class Mutex;
32 class SerialPort;
33 }
34 namespace gui
35 {
36 class TabWidget;
37 class Tab;
38 class Layout;
39 }
40 namespace sensor
41 {
42 class VrpnClient;
43 class VrpnObject;
44 }
45}
46
47class VrpnObject_impl;
48class vrpn_Connection;
49
50class VrpnClient_impl
51{
52 public:
53 VrpnClient_impl(flair::sensor::VrpnClient* self,std::string name,std::string address,uint16_t us_period);
54 VrpnClient_impl(flair::sensor::VrpnClient* self,std::string name,flair::core::SerialPort* serialport,uint16_t us_period);
55 ~VrpnClient_impl();
56 void AddTrackable(flair::sensor::VrpnObject* obj);//normal
57 void RemoveTrackable(flair::sensor::VrpnObject* obj);//normal
58 void AddTrackable(VrpnObject_impl* obj,uint8_t id);//xbee
59 void RemoveTrackable(VrpnObject_impl* obj);//xbee
60 void ComputeRotations(flair::core::Vector3D& point);
61 void ComputeRotations(flair::core::Quaternion& quat);
62 bool UseXbee(void);
63 void Run(void);
64 flair::gui::Tab* setup_tab;
65 flair::gui::TabWidget* tab;
66 vrpn_Connection *connection;
67
68 private:
69 flair::sensor::VrpnClient* self;
70 flair::core::Mutex* mutex;
71 uint16_t us_period;
72 std::vector<flair::sensor::VrpnObject*> trackables;
73 typedef struct xbee_object{
74 VrpnObject_impl* vrpnobject;
75 uint8_t id;
76 } xbee_object;
77
78 std::vector<xbee_object> xbee_objects;
79 flair::gui::Tab* main_tab;
80 flair::core::OneAxisRotation *rotation_1,*rotation_2;
81 flair::core::SerialPort* serialport;
82};
83
84#endif // VRPNCLIENT_IMPL_H
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