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 |
|
---|
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
|
---|
Note:
See
TracBrowser
for help on using the repository browser.