1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2013/04/03
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6 | // filename: VrpnObject_impl.h
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7 | //
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8 | // author: César Richard, Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: objet vrpn
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #ifndef VRPNOBJECT_IMPL_H
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19 | #define VRPNOBJECT_IMPL_H
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20 |
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21 | #include <IODevice.h>
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22 | #include <string>
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23 | #include <stdint.h>
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24 | #include <vrpn_Tracker.h>
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25 | #include "Quaternion.h"
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26 | #include "Vector3D.h"
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27 |
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28 | namespace flair {
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29 | namespace core {
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30 | class Matrix;
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31 | }
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32 | namespace gui {
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33 | class TabWidget;
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34 | class Tab;
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35 | class DataPlot1D;
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36 | }
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37 | namespace sensor {
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38 | class VrpnClient;
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39 | class VrpnObject;
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40 | }
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41 | }
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42 |
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43 | class VrpnObject_impl {
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44 | friend class VrpnClient_impl;
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45 |
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46 | public:
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47 | VrpnObject_impl(flair::sensor::VrpnObject *self,
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48 | std::string name,
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49 | int id, const flair::gui::TabWidget *tab,flair::sensor::VrpnClient *client);
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50 | ~VrpnObject_impl(void);
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51 |
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52 | void GetQuaternion(flair::core::Quaternion &quaternion);
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53 | void GetPosition(flair::core::Vector3Df &point);
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54 | bool IsTracked(unsigned int timeout_ms);
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55 |
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56 | flair::gui::Tab *plot_tab;
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57 | flair::gui::DataPlot1D *x_plot;
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58 | flair::gui::DataPlot1D *y_plot;
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59 | flair::gui::DataPlot1D *z_plot;
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60 | flair::core::Matrix *output, *state;
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61 |
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62 | static void VRPN_CALLBACK handle_pos(void *userdata, const vrpn_TRACKERCB t);
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63 |
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64 | private:
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65 | flair::sensor::VrpnObject *self;
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66 | const flair::sensor::VrpnClient *parent;
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67 | vrpn_Tracker_Remote *tracker;
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68 | void Update(void);
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69 | flair::core::Time previousTime;
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70 | };
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71 |
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72 | #endif // VRPNOBJECT_IMPL_H
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