Rev  Line  

[8]  1  // created: 2013/03/25


 2  // filename: Simulator.h


 3  //


 4  // author: Guillaume Sanahuja


 5  // Copyright Heudiasyc UMR UTC/CNRS 7253


 6  //


 7  // version: $Id: $


 8  //


 9  // purpose: classe de base du simulateur


 10  //


 11  /*********************************************************************/


 12 


 13  #ifndef SIMULATOR_H


 14  #define SIMULATOR_H


 15 


 16  #include <FrameworkManager.h>


 17  #include <stdint.h>


 18 


 19  class Simulator_impl;


 20 


 21  namespace flair {


 22  namespace core {


 23  class Quaternion;


 24  class Vector3D;


 25  }


 26  }


 27 


 28  namespace flair


 29  {


 30  namespace simulator


 31  {


 32  class Model;


 33  class Gui;


 34 


 35  class Simulator: public core::FrameworkManager


 36  {


 37  friend class Model;


 38  friend class Gui;


 39  friend class GenericObject;


 40 


 41  public:


 42  //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis


 43  Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);


 44  ~Simulator();


 45  void RunSimu(void);


 46  //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians


 47  float Yaw(void) const;


 48  //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis


 49  core::Quaternion ToVRPNReference(core::Quaternion quat_in);


 50  core::Vector3D ToVRPNReference(core::Vector3D point_in);


 51 


 52  private:


 53  Simulator_impl* pimpl_;


 54  };


 55 


 56  /*!


 57  * \brief get Simulator


 58  *


 59  * \return the Simulator


 60  */


 61  Simulator* getSimulator(void);


 62 


 63  } // end namespace simulator


 64  } // end namespace flair


 65 


 66  #endif // SIMULATOR_H


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