VrpnObject.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef VRPNOBJECT_H
#define VRPNOBJECT_H

#include <IODevice.h>
#include <stdint.h>

namespace flair {
        namespace core {
                class cvmatrix;
                class Vector3D;
                class Euler;
                class Quaternion;
        }
        namespace gui {
                class TabWidget;
                class Tab;
                class DataPlot1D;
        }
}

class VrpnObject_impl;
class VrpnClient_impl;

namespace flair {
namespace sensor {
class VrpnClient;

class VrpnObject : public core::IODevice {
  friend class ::VrpnObject_impl;
  friend class ::VrpnClient_impl;

public:
  VrpnObject(std::string name,
             const gui::TabWidget *tab);

  VrpnObject(std::string name, uint8_t id,
             const gui::TabWidget *tab);

  ~VrpnObject(void);

  gui::Tab *GetPlotTab(void) const;

  core::Time GetLastPacketTime(void) const;

  bool IsTracked(unsigned int timeout_ms) const;

  void GetEuler(core::Euler &euler) const;

  void GetQuaternion(core::Quaternion &quaternion) const;
  void GetPosition(core::Vector3D &point) const;

  core::cvmatrix *Output(void) const;

  core::cvmatrix *State(void) const;

  gui::DataPlot1D *xPlot(void) const;

  gui::DataPlot1D *yPlot(void) const;

  gui::DataPlot1D *zPlot(void) const;

private:
  void UpdateFrom(const core::io_data *data){};

  void mainloop(void);
  class VrpnObject_impl *pimpl_;
};
} // end namespace sensor
} // end namespace flair
#endif // VRPNOBJECT_H