Last change
on this file since 285 was 167, checked in by Sanahuja Guillaume, 8 years ago |
modifs pour template vectors
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File size:
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[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.h
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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 simulateur
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #ifndef SIMULATOR_H
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| 18 | #define SIMULATOR_H
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| 19 |
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| 20 | #include <FrameworkManager.h>
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[167] | 21 | #include <Vector3D.h>
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[8] | 22 | #include <stdint.h>
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| 23 |
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| 24 | class Simulator_impl;
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[158] | 25 | class Model_impl;
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[8] | 26 |
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| 27 | namespace flair {
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[15] | 28 | namespace core {
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| 29 | class Quaternion;
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[8] | 30 | }
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[15] | 31 | }
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[8] | 32 |
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[15] | 33 | namespace flair {
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| 34 | namespace simulator {
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| 35 | class Model;
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| 36 | class Gui;
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[8] | 37 |
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[15] | 38 | class Simulator : public core::FrameworkManager {
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[158] | 39 | friend class ::Model_impl;
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[15] | 40 | friend class Gui;
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| 41 | friend class GenericObject;
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[8] | 42 |
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[15] | 43 | public:
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| 44 | // yaw_deg: rotation of the vrpn coordinate with respect to the earth
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| 45 | // coordinate, around z axis
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| 46 | Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
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| 47 | ~Simulator();
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| 48 | void RunSimu(void);
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| 49 | // get rotation of the vrpn coordinate with respect to the earth coordinate,
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| 50 | // around z axis; in radians
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| 51 | float Yaw(void) const;
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| 52 | // compute rotation of the vrpn coordinate with respect to the earth
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| 53 | // coordinate, around z axis
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| 54 | core::Quaternion ToVRPNReference(core::Quaternion quat_in);
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[167] | 55 | core::Vector3D<double> ToVRPNReference(core::Vector3D<double> point_in);
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[8] | 56 |
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[15] | 57 | private:
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| 58 | Simulator_impl *pimpl_;
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| 59 | };
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[8] | 60 |
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[15] | 61 | /*!
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| 62 | * \brief get Simulator
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| 63 | *
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| 64 | * \return the Simulator
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| 65 | */
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| 66 | Simulator *getSimulator(void);
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[8] | 67 |
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| 68 | } // end namespace simulator
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| 69 | } // end namespace flair
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| 70 |
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| 71 | #endif // SIMULATOR_H
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