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

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2013/04/03

//  filename:   VrpnObject_impl.h

//

//  author:     César Richard, Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    objet vrpn

//

//

/*********************************************************************/



#ifndef VRPNOBJECT_IMPL_H

#define VRPNOBJECT_IMPL_H



#include <IODevice.h>

#include <string>

#include <stdint.h>

#include <vrpn_Tracker.h>

#include "Quaternion.h"



namespace flair {

namespace core {

class cvmatrix;

class Vector3D;

class Euler;

}

namespace gui {

class TabWidget;

class Tab;

class DataPlot1D;

}

namespace sensor {

class VrpnClient;

class VrpnObject;

}

}



class VrpnObject_impl {

  friend class VrpnClient_impl;



public:

  VrpnObject_impl(flair::sensor::VrpnObject *self,

                  const flair::sensor::VrpnClient *parent, std::string name,

                  int id, const flair::gui::TabWidget *tab);

  ~VrpnObject_impl(void);



  void mainloop(void);

  void GetEuler(flair::core::Euler &euler);

  void GetQuaternion(flair::core::Quaternion &quaternion);

  void GetPosition(flair::core::Vector3D &point);

  bool IsTracked(unsigned int timeout_ms);



  flair::gui::Tab *plot_tab;

  flair::gui::DataPlot1D *x_plot;

  flair::gui::DataPlot1D *y_plot;

  flair::gui::DataPlot1D *z_plot;

  flair::core::cvmatrix *output, *state;



  static void VRPN_CALLBACK handle_pos(void *userdata, const vrpn_TRACKERCB t);



private:

  flair::sensor::VrpnObject *self;

  const flair::sensor::VrpnClient *parent;

  vrpn_Tracker_Remote *tracker;

  flair::core::Quaternion quaternion; // todo: quaternion should be included in

                                      // the output to replace euler angles

  void Update(void);

};



#endif // VRPNOBJECT_IMPL_H