source: flair-src/trunk/lib/FlairSimulator/src/Simulator.h@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.7 KB
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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 <stdint.h>
22
23class Simulator_impl;
24
25namespace flair {
26 namespace core {
27 class Quaternion;
28 class Vector3D;
29 }
30}
31
32namespace flair
33{
34namespace simulator
35{
36 class Model;
37 class Gui;
38
39 class Simulator: public core::FrameworkManager
40 {
41 friend class Model;
42 friend class Gui;
43 friend class GenericObject;
44
45 public:
46 //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
47 Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);
48 ~Simulator();
49 void RunSimu(void);
50 //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians
51 float Yaw(void) const;
52 //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
53 core::Quaternion ToVRPNReference(core::Quaternion quat_in);
54 core::Vector3D ToVRPNReference(core::Vector3D point_in);
55
56 private:
57 Simulator_impl* pimpl_;
58 };
59
60 /*!
61 * \brief get Simulator
62 *
63 * \return the Simulator
64 */
65 Simulator* getSimulator(void);
66
67} // end namespace simulator
68} // end namespace flair
69
70#endif // SIMULATOR_H
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