source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h @ 55

Last change on this file since 55 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 1.9 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 {
28namespace core {
29class cvmatrix;
30class Vector3D;
31class Euler;
32}
33namespace gui {
34class TabWidget;
35class Tab;
36class DataPlot1D;
37}
38namespace sensor {
39class VrpnClient;
40class VrpnObject;
41}
42}
43
44class VrpnObject_impl {
45  friend class VrpnClient_impl;
46
47public:
48  VrpnObject_impl(flair::sensor::VrpnObject *self,
49                  const flair::sensor::VrpnClient *parent, 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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