Changeset 13 in flairdev for trunk/include/FlairSimulator/Simulator.h
 Timestamp:
 Apr 8, 2016, 3:39:24 PM (9 years ago)
 File:

 1 edited
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trunk/include/FlairSimulator/Simulator.h
r9 r13 24 24 25 25 namespace flair { 26 27 28 29 26 namespace core { 27 class Quaternion; 28 class Vector3D; 29 } 30 30 } 31 31 32 namespace flair 33 { 34 namespace simulator 35 { 36 class Model; 37 class Gui; 32 namespace flair { 33 namespace simulator { 34 class Model; 35 class Gui; 38 36 39 class Simulator: public core::FrameworkManager 40 { 41 friend class Model; 42 friend class Gui; 43 friend class GenericObject; 37 class Simulator : public core::FrameworkManager { 38 friend class Model; 39 friend class Gui; 40 friend class GenericObject; 44 41 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); 42 public: 43 // yaw_deg: rotation of the vrpn coordinate with respect to the earth 44 // coordinate, around z axis 45 Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30); 46 ~Simulator(); 47 void RunSimu(void); 48 // get rotation of the vrpn coordinate with respect to the earth coordinate, 49 // around z axis; in radians 50 float Yaw(void) const; 51 // compute rotation of the vrpn coordinate with respect to the earth 52 // coordinate, around z axis 53 core::Quaternion ToVRPNReference(core::Quaternion quat_in); 54 core::Vector3D ToVRPNReference(core::Vector3D point_in); 55 55 56 57 Simulator_impl*pimpl_;58 56 private: 57 Simulator_impl *pimpl_; 58 }; 59 59 60 61 62 63 64 65 Simulator*getSimulator(void);60 /*! 61 * \brief get Simulator 62 * 63 * \return the Simulator 64 */ 65 Simulator *getSimulator(void); 66 66 67 67 } // end namespace simulator
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