source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 5 years ago

modifs uav vrpn i686

File size: 1.8 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 namespace core {
29 class cvmatrix;
30 class Vector3D;
31 class Euler;
32 }
33 namespace gui {
34 class TabWidget;
35 class Tab;
36 class DataPlot1D;
37 }
38 namespace sensor {
39 class VrpnClient;
40 class VrpnObject;
41 }
42}
43
44class VrpnObject_impl {
45 friend class VrpnClient_impl;
46
47public:
48 VrpnObject_impl(flair::sensor::VrpnObject *self,
49 std::string name,
50 int id, const flair::gui::TabWidget *tab);
51 ~VrpnObject_impl(void);
52
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);
58
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;
64
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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