[10] | 1 | // %flair:license{ |
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[15] | 2 | // This file is part of the Flair framework distributed under the |
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| 3 | // CECILL-C License, Version 1.0. |
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[10] | 4 | // %flair:license} |
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[8] | 5 | // created: 2013/03/25 |
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| 6 | // filename: Simulator.cpp |
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| 7 | // |
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| 8 | // author: Guillaume Sanahuja |
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253 |
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| 10 | // |
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| 11 | // version: $Id: $ |
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| 12 | // |
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| 13 | // purpose: classe de base du Simulator |
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| 14 | // |
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| 15 | /*********************************************************************/ |
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| 16 | |
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| 17 | #include "Simulator.h" |
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| 18 | #include "Simulator_impl.h" |
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| 19 | #include "Euler.h" |
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| 20 | #include "Quaternion.h" |
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| 21 | #include "Vector3D.h" |
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| 22 | #ifdef GL |
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| 23 | #include "Gui.h" |
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| 24 | #endif |
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| 25 | |
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| 26 | using namespace std; |
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| 27 | using namespace flair::core; |
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| 28 | |
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[15] | 29 | namespace { |
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| 30 | flair::simulator::Simulator *simu = NULL; |
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[8] | 31 | } |
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| 32 | |
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[15] | 33 | namespace flair { |
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| 34 | namespace simulator { |
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[8] | 35 | |
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[15] | 36 | Simulator *getSimulator(void) { return simu; } |
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[8] | 37 | |
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[15] | 38 | Simulator::Simulator(string name, int optitrack_mstime, float yaw_deg) |
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| 39 | : FrameworkManager(name) { |
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| 40 | if (simu != NULL) |
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| 41 | Err("Simulator should be instanced only one time\n"); |
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[8] | 42 | |
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[15] | 43 | pimpl_ = new Simulator_impl(this, optitrack_mstime, yaw_deg); |
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| 44 | simu = this; |
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[8] | 45 | } |
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| 46 | |
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[15] | 47 | Simulator::~Simulator() { delete pimpl_; } |
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[8] | 48 | |
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| 49 | Quaternion Simulator::ToVRPNReference(Quaternion quat_in) { |
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[15] | 50 | Quaternion yaw_rot_quat; |
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| 51 | Euler yaw_rot_euler( |
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| 52 | 0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference |
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| 53 | yaw_rot_euler.ToQuaternion(yaw_rot_quat); |
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[8] | 54 | |
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[15] | 55 | return yaw_rot_quat * quat_in; |
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[8] | 56 | } |
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| 57 | |
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[167] | 58 | Vector3D<double> Simulator::ToVRPNReference(Vector3D<double> point_in) { |
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[15] | 59 | Quaternion yaw_rot_quat; |
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| 60 | Euler yaw_rot_euler( |
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| 61 | 0, 0, -pimpl_->yaw_rad); // yaw_rad is vrpn rotation in earth reference |
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| 62 | yaw_rot_euler.ToQuaternion(yaw_rot_quat); |
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| 63 | point_in.Rotate(yaw_rot_quat); |
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[8] | 64 | |
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[15] | 65 | return point_in; |
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[8] | 66 | } |
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| 67 | |
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[15] | 68 | float Simulator::Yaw(void) const { return pimpl_->yaw_rad; } |
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[8] | 69 | |
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[15] | 70 | void Simulator::RunSimu(void) { pimpl_->RunSimu(); } |
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[8] | 71 | |
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| 72 | } // end namespace simulator |
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| 73 | } // end namespace flair |
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