source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h @ 135

Last change on this file since 135 was 135, checked in by Sanahuja Guillaume, 5 years ago

VrpnObject? no longer outputs Euler (ony Quaternion): warning, output matrix has changed!

File size: 1.6 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        }
32        namespace gui {
33                class TabWidget;
34                class Tab;
35                class DataPlot1D;
36        }
37        namespace sensor {
38                class VrpnClient;
39                class VrpnObject;
40        }
41}
42
43class VrpnObject_impl {
44  friend class VrpnClient_impl;
45
46public:
47  VrpnObject_impl(flair::sensor::VrpnObject *self,
48                  std::string name,
49                  int id, const flair::gui::TabWidget *tab);
50  ~VrpnObject_impl(void);
51
52  void mainloop(void);
53  void GetQuaternion(flair::core::Quaternion &quaternion);
54  void GetPosition(flair::core::Vector3D &point);
55  bool IsTracked(unsigned int timeout_ms);
56
57  flair::gui::Tab *plot_tab;
58  flair::gui::DataPlot1D *x_plot;
59  flair::gui::DataPlot1D *y_plot;
60  flair::gui::DataPlot1D *z_plot;
61  flair::core::cvmatrix *output, *state;
62
63  static void VRPN_CALLBACK handle_pos(void *userdata, const vrpn_TRACKERCB t);
64
65private:
66  flair::sensor::VrpnObject *self;
67  const flair::sensor::VrpnClient *parent;
68  vrpn_Tracker_Remote *tracker;
69  void Update(void);
70};
71
72#endif // VRPNOBJECT_IMPL_H
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