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: 2013/03/25
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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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29 | namespace
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30 | {
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31 | flair::simulator::Simulator* simu=NULL;
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32 | }
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33 |
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34 | namespace flair
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35 | {
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36 | namespace simulator
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37 | {
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38 |
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39 | Simulator* getSimulator(void) {
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40 | return simu;
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41 | }
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42 |
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43 | Simulator::Simulator(string name,int optitrack_mstime,float yaw_deg): FrameworkManager(name)
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44 | {
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45 | if(simu!=NULL) Err("Simulator should be instanced only one time\n");
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46 |
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47 | pimpl_=new Simulator_impl(this,optitrack_mstime,yaw_deg);
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48 | simu=this;
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49 | }
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50 |
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51 | Simulator::~Simulator()
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52 | {
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53 | delete pimpl_;
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54 | }
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55 |
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56 | Quaternion Simulator::ToVRPNReference(Quaternion quat_in) {
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57 | Quaternion yaw_rot_quat;
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58 | Euler yaw_rot_euler(0,0,-pimpl_->yaw_rad);//yaw_rad is vrpn rotation in earth reference
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59 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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60 |
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61 | return yaw_rot_quat*quat_in;
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62 | }
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63 |
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64 | Vector3D Simulator::ToVRPNReference(Vector3D point_in) {
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65 | Quaternion yaw_rot_quat;
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66 | Euler yaw_rot_euler(0,0,-pimpl_->yaw_rad);//yaw_rad is vrpn rotation in earth reference
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67 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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68 | point_in.Rotate(yaw_rot_quat);
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69 |
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70 | return point_in;
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71 | }
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72 |
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73 | float Simulator::Yaw(void) const
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74 | {
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75 | return pimpl_->yaw_rad;
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76 | }
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77 |
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78 | void Simulator::RunSimu(void)
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79 | {
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80 | pimpl_->RunSimu();
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81 | }
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82 |
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83 | } // end namespace simulator
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84 | } // end namespace flair
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