source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnClient_impl.h @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 2.0 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//  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#include "Vector3D.h"
24
25namespace flair {
26namespace core {
27class OneAxisRotation;
28class Quaternion;
29class Mutex;
30class SerialPort;
31}
32namespace gui {
33class TabWidget;
34class Tab;
35class Layout;
36}
37namespace sensor {
38class VrpnClient;
39class VrpnObject;
40}
41}
42
43class VrpnObject_impl;
44class vrpn_Connection;
45
46class VrpnClient_impl {
47public:
48  VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
49                  std::string address);
50  VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
51                  flair::core::SerialPort *serialport, uint16_t us_period);
52  ~VrpnClient_impl();
53  void AddTrackable(VrpnObject_impl *obj);    // normal
54  void AddTrackable(VrpnObject_impl *obj, uint8_t id);  // xbee
55  void RemoveTrackable(VrpnObject_impl *obj);           // normal+xbee
56  void ComputeRotations(flair::core::Vector3Df &point);
57  void ComputeRotations(flair::core::Quaternion &quat);
58  bool UseXbee(void);
59  void Run(void);
60  flair::gui::Tab *setup_tab;
61  flair::gui::TabWidget *tab;
62  vrpn_Connection *connection;
63
64private:
65  flair::sensor::VrpnClient *self;
66  flair::core::Mutex *mutex;
67  uint16_t us_period;
68  std::vector<VrpnObject_impl *> trackables;
69  typedef struct xbee_object {
70    VrpnObject_impl *vrpnobject;
71    uint8_t id;
72  } xbee_object;
73
74  std::vector<xbee_object> xbee_objects;
75  flair::gui::Tab *main_tab;
76  flair::core::OneAxisRotation *rotation_1, *rotation_2;
77  flair::core::SerialPort *serialport;
78        bool isConnected;//only for ip connection, not for xbee
79};
80
81#endif // VRPNCLIENT_IMPL_H
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