Flair
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Simulator.h
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 
23 class Simulator_impl;
24 
25 namespace flair {
26 namespace core {
27 class Quaternion;
28 class Vector3D;
29 }
30 }
31 
32 namespace flair {
33 namespace simulator {
34 class Model;
35 class Gui;
36 
38  friend class Model;
39  friend class Gui;
40  friend class GenericObject;
41 
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 
56 private:
57  Simulator_impl *pimpl_;
58 };
59 
65 Simulator *getSimulator(void);
66 
67 } // end namespace simulator
68 } // end namespace flair
69 
70 #endif // SIMULATOR_H
Simulator * getSimulator(void)
get Simulator
Class defining a 3D vector.
Definition: Vector3D.h:28
Definition: Simulator.h:37
Definition: Gui.h:52
Main class of the Framework library.
Definition: Model.h:55
Main class of the Framework library.
Definition: FrameworkManager.h:45
Class defining a quaternion.
Definition: Quaternion.h:25