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

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

sensoractuator

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: 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
20
21#include <IODevice.h>
22#include <string>
23#include <stdint.h>
24#include <vrpn_Tracker.h>
25#include "Quaternion.h"
26
27namespace flair
28{
29 namespace core
30 {
31 class cvmatrix;
32 class Vector3D;
33 class Euler;
34 }
35 namespace gui
36 {
37 class TabWidget;
38 class Tab;
39 class DataPlot1D;
40 }
41 namespace sensor
42 {
43 class VrpnClient;
44 class VrpnObject;
45 }
46}
47
48class VrpnObject_impl
49{
50 friend class VrpnClient_impl;
51
52 public:
53 VrpnObject_impl(flair::sensor::VrpnObject* self,const flair::sensor::VrpnClient *parent,std::string name,int id,const flair::gui::TabWidget* tab);
54 ~VrpnObject_impl(void);
55
56 void mainloop(void);
57 void GetEuler(flair::core::Euler &euler);
58 void GetQuaternion(flair::core::Quaternion &quaternion);
59 void GetPosition(flair::core::Vector3D &point);
60 bool IsTracked(unsigned int timeout_ms);
61
62 flair::gui::Tab* plot_tab;
63 flair::gui::DataPlot1D* x_plot;
64 flair::gui::DataPlot1D* y_plot;
65 flair::gui::DataPlot1D* z_plot;
66 flair::core::cvmatrix *output,*state;
67
68 static void VRPN_CALLBACK handle_pos(void *userdata, const vrpn_TRACKERCB t);
69
70 private:
71 flair::sensor::VrpnObject* self;
72 const flair::sensor::VrpnClient *parent;
73 vrpn_Tracker_Remote* tracker;
74 flair::core::Quaternion quaternion;//todo: quaternion should be included in the output to replace euler angles
75 void Update(void);
76};
77
78#endif // VRPNOBJECT_IMPL_H
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