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cybsixdofsensorc.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 CYBSIXDOFSENSORC_H
#define CYBSIXDOFSENSORC_H

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

OAW_BEGIN_NAMESPACE



class OAW_DLLMAPPING CybSixDOFSensorC : public CybSensorC 
{
public:
  CybSixDOFSensorC(CybWorldC* pW=0);
  CybSixDOFSensorC(const CybSixDOFSensorC&);
  CybSixDOFSensorC& operator = (const CybSixDOFSensorC&);  
  virtual CybNodeC* CreateNew(){return 0;}
  
  virtual void RouteData();
  virtual void Writeln();
  
  virtual void SetPosition(const VectorC& v);
  virtual void SetOrientation(const QuaternionC&);
  virtual VectorC GetPosition();
  virtual QuaternionC GetOrientation();
  virtual void GetPosOri(VectorC&, QuaternionC&);
  
  virtual void SetInterfaceData(AnyC&); 
  virtual void CopyInterfaceData (AnyC&,long maxLen); 
  virtual long GetInterfaceDataMinLength();

protected:
  virtual void CreateNewCopy(CybNodeC*);
protected:
  VectorC m_posBuf,m_pos;
  QuaternionC m_oriBuf,m_ori;
};


OAW_END_NAMESPACE


#endif 

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