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108<div class="title">JoyReference.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<a href="_joy_reference_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef JOYREFERENCE_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define JOYREFERENCE_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div>
121<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
122<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="keyword">namespace </span>core {</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">class </span>Quaternion;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">class </span>AhrsData;</div>
125<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;}</div>
126<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">namespace </span>gui {</div>
127<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">class </span>LayoutPosition;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;}</div>
129<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;}</div>
130<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;</div>
131<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="keyword">class </span>JoyReference_impl;</div>
132<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;</div>
133<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
134<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="keyword">namespace </span>filter {</div>
135<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_joy_reference.html"> 37</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_joy_reference.html">JoyReference</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
136<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="keyword">public</span>:</div>
137<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a94ca81b85cd96d94dfcc2f09f0479ad1">JoyReference</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position, std::string name);</div>
138<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;</div>
139<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a6ec8918b4bb75dbd712916990c49e898">~JoyReference</a>();</div>
140<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;</div>
141<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a8dfbc87a1dac2b5929c16cf3da0703d6">SetRollAxis</a>(<span class="keywordtype">float</span> value);</div>
142<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;</div>
143<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a2ff85142cf57e16b601745f88a82c5d3">SetPitchAxis</a>(<span class="keywordtype">float</span> value);</div>
144<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;</div>
145<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a1743d36749d704a37fe68c1280c04e4d">SetYawAxis</a>(<span class="keywordtype">float</span> value);</div>
146<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;</div>
147<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#affb67247575e4e38abb352ccf9088b01">SetAltitudeAxis</a>(<span class="keywordtype">float</span> value);</div>
148<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;</div>
149<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *<a class="code" href="classflair_1_1filter_1_1_joy_reference.html#ab840a472193ea2f5781805151c07fc44">GetReferenceOrientation</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
150<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;</div>
151<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#aa25621e218a497c2380c43cbb554e529">ZRef</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
152<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;</div>
153<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a8ddb7e0a1b20291dadff81550d5a3796">DzRef</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
154<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;</div>
155<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a69099dbde49e1e891cd8359cff7da87a">RollTrim</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
156<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160;</div>
157<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a642723322805c3e556eb455f3ad83ba2">PitchTrim</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
158<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;</div>
159<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a7d4b4c6ec69966afe7944466e1c63cbb">SetYawRef</a>(<span class="keywordtype">float</span> value);</div>
160<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160;</div>
161<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a7d4b4c6ec69966afe7944466e1c63cbb">SetYawRef</a>(<a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> <span class="keyword">const</span> &amp;value);</div>
162<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;</div>
163<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a3746cc472ad6db4e7b4bf3d24ac3ac00">SetZRef</a>(<span class="keywordtype">float</span> value);</div>
164<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160;</div>
165<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#af404e0a05fc83d693e8f03597d02af18">RollTrimUp</a>(<span class="keywordtype">void</span>);</div>
166<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;</div>
167<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a7135749ee6e685177b7e4da5c81e312c">RollTrimDown</a>(<span class="keywordtype">void</span>);</div>
168<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;</div>
169<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#ad43dee3ce4529912cf4a3eb640b9e7db">PitchTrimUp</a>(<span class="keywordtype">void</span>);</div>
170<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160;</div>
171<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a78869c2adb38a63d12615f15d2412e56">PitchTrimDown</a>(<span class="keywordtype">void</span>);</div>
172<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160;</div>
173<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_joy_reference.html#a1c30d137fec61a42ffb2214248140342">Update</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> time);</div>
174<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160;</div>
175<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160;<span class="keyword">private</span>:</div>
176<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160; <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
177<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;</div>
178<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160; <span class="keyword">class </span>JoyReference_impl *pimpl_;</div>
179<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160;};</div>
180<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160;} <span class="comment">// end namespace sensor</span></div>
181<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160;} <span class="comment">// end namespace flair</span></div>
182<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160;</div>
183<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160;<span class="preprocessor">#endif // JOYREFERENCE_H</span></div>
184<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a2ff85142cf57e16b601745f88a82c5d3"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a2ff85142cf57e16b601745f88a82c5d3">flair::filter::JoyReference::SetPitchAxis</a></div><div class="ttdeci">void SetPitchAxis(float value)</div><div class="ttdoc">Set pitch axis value. </div></div>
185<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
186<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_affb67247575e4e38abb352ccf9088b01"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#affb67247575e4e38abb352ccf9088b01">flair::filter::JoyReference::SetAltitudeAxis</a></div><div class="ttdeci">void SetAltitudeAxis(float value)</div><div class="ttdoc">Set thrust axis value. </div></div>
187<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a94ca81b85cd96d94dfcc2f09f0479ad1"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a94ca81b85cd96d94dfcc2f09f0479ad1">flair::filter::JoyReference::JoyReference</a></div><div class="ttdeci">JoyReference(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
188<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:45</div></div>
189<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
190<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:55</div></div>
191<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a3746cc472ad6db4e7b4bf3d24ac3ac00"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a3746cc472ad6db4e7b4bf3d24ac3ac00">flair::filter::JoyReference::SetZRef</a></div><div class="ttdeci">void SetZRef(float value)</div><div class="ttdoc">Set z reference. </div></div>
192<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a78869c2adb38a63d12615f15d2412e56"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a78869c2adb38a63d12615f15d2412e56">flair::filter::JoyReference::PitchTrimDown</a></div><div class="ttdeci">void PitchTrimDown(void)</div><div class="ttdoc">Trim down pitch. </div></div>
193<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a1c30d137fec61a42ffb2214248140342"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a1c30d137fec61a42ffb2214248140342">flair::filter::JoyReference::Update</a></div><div class="ttdeci">void Update(core::Time time)</div><div class="ttdoc">Update references. </div></div>
194<div class="ttc" id="classflair_1_1core_1_1_ahrs_data_html"><div class="ttname"><a href="classflair_1_1core_1_1_ahrs_data.html">flair::core::AhrsData</a></div><div class="ttdoc">Class defining AHRS datas. </div><div class="ttdef"><b>Definition:</b> AhrsData.h:30</div></div>
195<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_aa25621e218a497c2380c43cbb554e529"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#aa25621e218a497c2380c43cbb554e529">flair::filter::JoyReference::ZRef</a></div><div class="ttdeci">float ZRef(void) const </div><div class="ttdoc">Get z reference. </div></div>
196<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a7d4b4c6ec69966afe7944466e1c63cbb"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a7d4b4c6ec69966afe7944466e1c63cbb">flair::filter::JoyReference::SetYawRef</a></div><div class="ttdeci">void SetYawRef(float value)</div><div class="ttdoc">Set yaw reference. </div></div>
197<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a642723322805c3e556eb455f3ad83ba2"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a642723322805c3e556eb455f3ad83ba2">flair::filter::JoyReference::PitchTrim</a></div><div class="ttdeci">float PitchTrim(void) const </div><div class="ttdoc">Get pitch trim. </div></div>
198<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
199<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_ab840a472193ea2f5781805151c07fc44"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#ab840a472193ea2f5781805151c07fc44">flair::filter::JoyReference::GetReferenceOrientation</a></div><div class="ttdeci">core::AhrsData * GetReferenceOrientation(void) const </div><div class="ttdoc">Get orientation reference. </div></div>
200<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_ad43dee3ce4529912cf4a3eb640b9e7db"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#ad43dee3ce4529912cf4a3eb640b9e7db">flair::filter::JoyReference::PitchTrimUp</a></div><div class="ttdeci">void PitchTrimUp(void)</div><div class="ttdoc">Trim up pitch. </div></div>
201<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html">flair::filter::JoyReference</a></div><div class="ttdoc">Class creating references from a joystick. </div><div class="ttdef"><b>Definition:</b> JoyReference.h:37</div></div>
202<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a69099dbde49e1e891cd8359cff7da87a"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a69099dbde49e1e891cd8359cff7da87a">flair::filter::JoyReference::RollTrim</a></div><div class="ttdeci">float RollTrim(void) const </div><div class="ttdoc">Get roll trim. </div></div>
203<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a8ddb7e0a1b20291dadff81550d5a3796"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a8ddb7e0a1b20291dadff81550d5a3796">flair::filter::JoyReference::DzRef</a></div><div class="ttdeci">float DzRef(void) const </div><div class="ttdoc">Get z derivative reference. </div></div>
204<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a6ec8918b4bb75dbd712916990c49e898"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a6ec8918b4bb75dbd712916990c49e898">flair::filter::JoyReference::~JoyReference</a></div><div class="ttdeci">~JoyReference()</div><div class="ttdoc">Destructor. </div></div>
205<div class="ttc" id="classflair_1_1gui_1_1_layout_position_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout_position.html">flair::gui::LayoutPosition</a></div><div class="ttdoc">Class to define a position in a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> LayoutPosition.h:28</div></div>
206<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_af404e0a05fc83d693e8f03597d02af18"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#af404e0a05fc83d693e8f03597d02af18">flair::filter::JoyReference::RollTrimUp</a></div><div class="ttdeci">void RollTrimUp(void)</div><div class="ttdoc">Trim up roll. </div></div>
207<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a1743d36749d704a37fe68c1280c04e4d"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a1743d36749d704a37fe68c1280c04e4d">flair::filter::JoyReference::SetYawAxis</a></div><div class="ttdeci">void SetYawAxis(float value)</div><div class="ttdoc">Set yaw axis value. </div></div>
208<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a8dfbc87a1dac2b5929c16cf3da0703d6"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a8dfbc87a1dac2b5929c16cf3da0703d6">flair::filter::JoyReference::SetRollAxis</a></div><div class="ttdeci">void SetRollAxis(float value)</div><div class="ttdoc">Set roll axis value. </div></div>
209<div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:26</div></div>
210<div class="ttc" id="classflair_1_1filter_1_1_joy_reference_html_a7135749ee6e685177b7e4da5c81e312c"><div class="ttname"><a href="classflair_1_1filter_1_1_joy_reference.html#a7135749ee6e685177b7e4da5c81e312c">flair::filter::JoyReference::RollTrimDown</a></div><div class="ttdeci">void RollTrimDown(void)</div><div class="ttdoc">Trim down roll. </div></div>
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