source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h @ 5

Last change on this file since 5 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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