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cyblogitechsensorc.h

Go to the documentation of this file.

/*
Copyright (C) 1999  Carsten Winkelholz

Address:  FGAN Forschungsgesellschaft f�r Angewandte Naturwissenschaften e. V.
      Neuenahrer Str. 20
      D - 53343 Wachtberg
      
Email:    winkelholz@fgan.de

This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
*/


#ifndef CYBLogitechSENSORC_H
#define CYBLogitechSENSORC_H

#include "oaw/ctk/cybsixdofsensorc.h"
#include "oaw/misc/vectorc.h"
#include "oaw/misc/quaternionc.h"
#include "../oawconfig.h"

OAW_BEGIN_NAMESPACE



class OAW_DLLMAPPING CybLogitechSensorC : public CybSixDOFSensorC 
{
public:
  CybLogitechSensorC(CybWorldC*,int,int);
  virtual ~CybLogitechSensorC();
  CybLogitechSensorC(const CybLogitechSensorC&);
  CybLogitechSensorC& operator = (const CybLogitechSensorC&);  
  virtual CybNodeC* CreateNew();
  
  virtual void SetPosition(const VectorC& ){}
  virtual void SetOrientation(double,double,double,double){}
  virtual VectorC GetPosition();
  virtual void GetOrientation(double&,double&,double&,double&);
  virtual void GetPosOri(VectorC&, QuaternionC&); 
  void InitZero();
  virtual void RouteData();
  
  
  virtual void SetInterfaceData(AnyC&){} 
  virtual void CopyInterfaceData (AnyC&,long maxLen); 
  virtual long GetInterfaceDataMinLength();
  
protected:
  virtual void CreateNewCopy(CybNodeC*);
  void Update();
protected:
  
  QuaternionC m_orientation;
  VectorC m_pzero;
  QuaternionC m_ozero;
  int m_mode;
  void* m_pConfigData;
  
};


OAW_END_NAMESPACE


#endif 

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