source: flair-src/trunk/lib/FlairSimulator/src/Simulator.h

Last change on this file was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 1.6 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: 2013/03/25
6// filename: Simulator.h
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe de base du simulateur
14//
15/*********************************************************************/
16
17#ifndef SIMULATOR_H
18#define SIMULATOR_H
19
20#include <FrameworkManager.h>
21#include <Vector3D.h>
22#include <stdint.h>
23
24class Simulator_impl;
25class Model_impl;
26
27namespace flair {
28namespace core {
29class Quaternion;
30}
31}
32
33namespace flair {
34namespace simulator {
35class Model;
36class Gui;
37
38class Simulator : public core::FrameworkManager {
39 friend class ::Model_impl;
40 friend class Gui;
41 friend class GenericObject;
42
43public:
44 // yaw_deg: rotation of the vrpn coordinate with respect to the earth
45 // coordinate, around z axis
46 Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30, int port=3883);
47 ~Simulator();
48 void RunSimu(void);
49 // get rotation of the vrpn coordinate with respect to the earth coordinate,
50 // around z axis; in radians
51 float Yaw(void) const;
52 // compute rotation of the vrpn coordinate with respect to the earth
53 // coordinate, around z axis
54 core::Quaternion ToVRPNReference(core::Quaternion quat_in);
55 core::Vector3D<double> ToVRPNReference(core::Vector3D<double> point_in);
56
57private:
58 Simulator_impl *pimpl_;
59};
60
61/*!
62* \brief get Simulator
63*
64* \return the Simulator
65*/
66Simulator *getSimulator(void);
67
68} // end namespace simulator
69} // end namespace flair
70
71#endif // SIMULATOR_H
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