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