source: flair-src/trunk/lib/FlairSimulator/src/Simulator.h@ 8

Last change on this file since 8 was 8, checked in by Sanahuja Guillaume, 6 years ago

simulator

File size: 1.6 KB
Line 
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
19class Simulator_impl;
20
21namespace flair {
22 namespace core {
23 class Quaternion;
24 class Vector3D;
25 }
26}
27
28namespace flair
29{
30namespace 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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