Tracker_Calibration_impl.h

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#ifndef TRACKER_CALIBRATION_H
#define TRACKER_CALIBRATION_H

/* system includes */
#include <vector>
/* my includes */
#include "qt_calibration.uic.h"

// KOGMO_RTDB standard includes
#define KOGMO_RTDB_DONT_INCLUDE_ALL_OBJECTS
#include "kogmo_rtdb.h"
#include "kogmo_rtdb_obj_typeids.h"
//KOGMO_RTDB special includes for our project with the id E1
#include "itec/kogmo_rtdb_obj_e1_itec.h"
using namespace KogniMobil;


class Tracker_Calibration_impl
  : public qt_Tracker_Calibration
{
 public:
  Tracker_Calibration_impl();
  ~Tracker_Calibration_impl();

  virtual void connectSlot();
  virtual void saveSlot();
  virtual void loadSlot();
  virtual void helpSlot();
  virtual void GetNAdd_clicked();
  virtual void ResetCalib_clicked();
  virtual void SendDataToTracker_clicked();
  virtual void saveCoord();
  virtual void loadCoord();
  virtual void clearAllData();

  struct fulcrum{
    double sensorVal[3];
    double sensorAngle[3];
    double worldVal[3];
    double worldAngle[3];
  };

  typedef std::pair<double, double> fulcrumPair;
  typedef std::vector<fulcrumPair> sensorCal;
  typedef std::vector<sensorCal> trackerCal;
  
private:
  int openDevice(std::string &trackLeftId, std::string &trackRightId);
  int closeDevice();
  void updateCounter();

  void printFulcrum(fulcrum fulc);
  bool displayCal(trackerCal cal);

  bool trackLeft;
  bool trackRight;
  
  int fcountLeft;
  int fcountRight;
  int coordCountLeft;
  int coordCountRight;

  fulcrum fulcrumarrayLeft[255];
  fulcrum fulcrumarrayRight[255];

   /* variables that handle the database connection */
  kogmo_rtdb_handle_t *dbc; /*< the database connection handle */
  kogmo_rtdb_connect_info_t dbinfo; /*< information about the database connection */
  kogmo_rtdb_obj_info_t dataobj_left_info; /*< information about the type of the dataobject */
  kogmo_rtdb_obj_info_t dataobj_right_info; /*< information about the type of the dataobject */
  kogmo_rtdb_obj_e1_fobtracker_t *dataobj_left; /*< the dataobject specific to the sensor */
  kogmo_rtdb_obj_e1_fobtracker_t *dataobj_right; /*< the dataobject specific to the sensor */
  kogmo_rtdb_objid_t oidLeft; /*< id of our object within the database */
  kogmo_rtdb_objid_t oidRight; /*< another id */
};


#endif /* TRACKER_CALIBRATION_H */