| [10] | 1 | // %flair:license{
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| [15] | 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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| [10] | 4 | // %flair:license}
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| [8] | 5 | // created: 2013/03/25
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| 6 | // filename: Simulator.cpp
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| 7 | //
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| 8 | // author: 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: classe de base du Simulator
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #include "Simulator.h"
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| 18 | #include "Simulator_impl.h"
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| 19 | #include "Euler.h"
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| 20 | #include "Quaternion.h"
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| 21 | #include "Vector3D.h"
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| 22 | #ifdef GL
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| 23 | #include "Gui.h"
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| 24 | #endif
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| 25 |
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| 26 | using namespace std;
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| 27 | using namespace flair::core;
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| 28 |
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| [15] | 29 | namespace {
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| 30 | flair::simulator::Simulator *simu = NULL;
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| [8] | 31 | }
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| 32 |
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| [15] | 33 | namespace flair {
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| 34 | namespace simulator {
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| [8] | 35 |
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| [15] | 36 | Simulator *getSimulator(void) { return simu; }
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| [8] | 37 |
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| [286] | 38 | Simulator::Simulator(string name, int optitrack_mstime, float yaw_deg, int port)
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| [15] | 39 | : FrameworkManager(name) {
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| 40 | if (simu != NULL)
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| 41 | Err("Simulator should be instanced only one time\n");
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| [8] | 42 |
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| [286] | 43 | pimpl_ = new Simulator_impl(this, optitrack_mstime, yaw_deg,port);
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| [15] | 44 | simu = this;
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| [8] | 45 | }
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| 46 |
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| [15] | 47 | Simulator::~Simulator() { delete pimpl_; }
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| [8] | 48 |
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| 49 | Quaternion Simulator::ToVRPNReference(Quaternion quat_in) {
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| [15] | 50 | Quaternion yaw_rot_quat;
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| 51 | Euler yaw_rot_euler(
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| 52 | 0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference
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| 53 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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| [8] | 54 |
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| [15] | 55 | return yaw_rot_quat * quat_in;
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| [8] | 56 | }
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| 57 |
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| [167] | 58 | Vector3D<double> Simulator::ToVRPNReference(Vector3D<double> point_in) {
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| [15] | 59 | Quaternion yaw_rot_quat;
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| 60 | Euler yaw_rot_euler(
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| 61 | 0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference
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| 62 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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| 63 | point_in.Rotate(yaw_rot_quat);
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| [8] | 64 |
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| [15] | 65 | return point_in;
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| [8] | 66 | }
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| 67 |
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| [15] | 68 | float Simulator::Yaw(void) const { return pimpl_->yaw_rad; }
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| [8] | 69 |
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| [15] | 70 | void Simulator::RunSimu(void) { pimpl_->RunSimu(); }
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| [8] | 71 |
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| 72 | } // end namespace simulator
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| 73 | } // end namespace flair
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