source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h@ 55

Last change on this file since 55 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 1.9 KB
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[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5// created: 2013/04/03
6// filename: VrpnObject_impl.h
7//
8// author: César Richard, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet vrpn
14//
15//
16/*********************************************************************/
17
18#ifndef VRPNOBJECT_IMPL_H
19#define VRPNOBJECT_IMPL_H
[15]20
[3]21#include <IODevice.h>
22#include <string>
23#include <stdint.h>
24#include <vrpn_Tracker.h>
25#include "Quaternion.h"
26
[15]27namespace flair {
28namespace core {
29class cvmatrix;
30class Vector3D;
31class Euler;
[3]32}
[15]33namespace gui {
34class TabWidget;
35class Tab;
36class DataPlot1D;
37}
38namespace sensor {
39class VrpnClient;
40class VrpnObject;
41}
42}
[3]43
[15]44class VrpnObject_impl {
45 friend class VrpnClient_impl;
[3]46
[15]47public:
48 VrpnObject_impl(flair::sensor::VrpnObject *self,
49 const flair::sensor::VrpnClient *parent, std::string name,
50 int id, const flair::gui::TabWidget *tab);
51 ~VrpnObject_impl(void);
[3]52
[15]53 void mainloop(void);
54 void GetEuler(flair::core::Euler &euler);
55 void GetQuaternion(flair::core::Quaternion &quaternion);
56 void GetPosition(flair::core::Vector3D &point);
57 bool IsTracked(unsigned int timeout_ms);
[3]58
[15]59 flair::gui::Tab *plot_tab;
60 flair::gui::DataPlot1D *x_plot;
61 flair::gui::DataPlot1D *y_plot;
62 flair::gui::DataPlot1D *z_plot;
63 flair::core::cvmatrix *output, *state;
[3]64
[15]65 static void VRPN_CALLBACK handle_pos(void *userdata, const vrpn_TRACKERCB t);
66
67private:
68 flair::sensor::VrpnObject *self;
69 const flair::sensor::VrpnClient *parent;
70 vrpn_Tracker_Remote *tracker;
71 flair::core::Quaternion quaternion; // todo: quaternion should be included in
72 // the output to replace euler angles
73 void Update(void);
74};
75
76#endif // VRPNOBJECT_IMPL_H
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