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| 108 | <div class="title">Uav.h</div> </div>
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| 109 | </div><!--header-->
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| 110 | <div class="contents">
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| 111 | <a href="_uav_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> <span class="comment">// %flair:license{</span></div>
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| 112 | <div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// This file is part of the Flair framework distributed under the</span></div>
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| 113 | <div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// CECILL-C License, Version 1.0.</span></div>
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| 114 | <div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// %flair:license}</span></div>
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| 115 | <div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"></span><span class="preprocessor">#ifndef HDSUAV_H</span></div>
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| 116 | <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#define HDSUAV_H</span></div>
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| 117 | <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
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| 118 | <div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <<a class="code" href="_object_8h.html">Object.h</a>></span></div>
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| 119 | <div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
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| 120 | <div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
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| 121 | <div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">namespace </span>core {</div>
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| 122 | <div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">class </span>FrameworkManager;</div>
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| 123 | <div class="line"><a name="l00021"></a><span class="lineno"> 21</span> }</div>
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| 124 | <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keyword">namespace </span>filter {</div>
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| 125 | <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">class </span>Ahrs;</div>
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| 126 | <div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">class </span>UavMultiplex;</div>
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| 127 | <div class="line"><a name="l00025"></a><span class="lineno"> 25</span> }</div>
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| 128 | <div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">namespace </span>actuator {</div>
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| 129 | <div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">class </span>Bldc;</div>
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| 130 | <div class="line"><a name="l00028"></a><span class="lineno"> 28</span> }</div>
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| 131 | <div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">namespace </span>sensor {</div>
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| 132 | <div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">class </span>UsRangeFinder;</div>
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| 133 | <div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">class </span>BatteryMonitor;</div>
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| 134 | <div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">class </span>VrpnClient;</div>
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| 135 | <div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">class </span>Imu;</div>
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| 136 | <div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">class </span>Camera;</div>
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| 137 | <div class="line"><a name="l00035"></a><span class="lineno"> 35</span> }</div>
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| 138 | <div class="line"><a name="l00036"></a><span class="lineno"> 36</span> }</div>
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| 139 | <div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
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| 140 | <div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
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| 141 | <div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">namespace </span>meta {</div>
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| 142 | <div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">class </span>MetaUsRangeFinder;</div>
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| 143 | <div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">class </span>MetaVrpnObject;</div>
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| 144 | <div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
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| 145 | <div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classflair_1_1meta_1_1_uav.html"> 47</a></span> <span class="keyword">class </span><a class="code" href="classflair_1_1meta_1_1_uav.html">Uav</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_object.html">core::Object</a> {</div>
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| 146 | <div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">public</span>:</div>
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| 147 | <div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="comment">/*</span></div>
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| 148 | <div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> typedef enum {</span></div>
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| 149 | <div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> None,</span></div>
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| 150 | <div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> Auto,//rt serial if hds x4 ou x8, auto ip sinon</span></div>
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| 151 | <div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> AutoIP,</span></div>
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| 152 | <div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> UserDefinedIP,</span></div>
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| 153 | <div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> AutoSerialPort,</span></div>
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| 154 | <div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> } VRPNType_t;</span></div>
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| 155 | <div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment">*/</span></div>
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| 156 | <div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">// uav_name: for optitrack</span></div>
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| 157 | <div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classflair_1_1meta_1_1_uav.html">Uav</a>(<a class="code" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a> *parent, std::string name,</div>
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| 158 | <div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *multiplex = NULL);</div>
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| 159 | <div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  ~<a class="code" href="classflair_1_1meta_1_1_uav.html">Uav</a>();</div>
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| 160 | <div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">void</span> SetupVRPN(std::string optitrack_address, std::string name);</div>
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| 161 | <div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// vrpn serial: broken, need to add serial port in uav specific code</span></div>
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| 162 | <div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int</span></div>
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| 163 | <div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">// VRPNSerialObjectId);</span></div>
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| 164 | <div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetupVRPNAutoIP(std::string name);</div>
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| 165 | <div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div>
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| 166 | <div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> StartSensors(<span class="keywordtype">void</span>);</div>
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| 167 | <div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">void</span> UseDefaultPlot(<span class="keywordtype">void</span>);</div>
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| 168 | <div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="classflair_1_1actuator_1_1_bldc.html">actuator::Bldc</a> *GetBldc(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 169 | <div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *GetUavMultiplex(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 170 | <div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classflair_1_1sensor_1_1_imu.html">sensor::Imu</a> *GetImu(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 171 | <div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classflair_1_1filter_1_1_ahrs.html">filter::Ahrs</a> *GetAhrs(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 172 | <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="classflair_1_1meta_1_1_meta_us_range_finder.html">MetaUsRangeFinder</a> *GetMetaUsRangeFinder(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 173 | <div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="classflair_1_1sensor_1_1_us_range_finder.html">sensor::UsRangeFinder</a> *GetUsRangeFinder(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 174 | <div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="classflair_1_1sensor_1_1_battery_monitor.html">sensor::BatteryMonitor</a> *GetBatteryMonitor(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 175 | <div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="classflair_1_1sensor_1_1_vrpn_client.html">sensor::VrpnClient</a> *GetVrpnClient(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 176 | <div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="classflair_1_1meta_1_1_meta_vrpn_object.html">meta::MetaVrpnObject</a> *GetVrpnObject(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 177 | <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classflair_1_1sensor_1_1_camera.html">sensor::Camera</a> *GetVerticalCamera(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 178 | <div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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| 179 | <div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">protected</span>:</div>
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| 180 | <div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">void</span> SetBldc(<span class="keyword">const</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html">actuator::Bldc</a> *bldc);</div>
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| 181 | <div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">void</span> SetMultiplex(<span class="keyword">const</span> <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *multiplex);</div>
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| 182 | <div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">void</span> SetAhrs(<span class="keyword">const</span> <a class="code" href="classflair_1_1filter_1_1_ahrs.html">filter::Ahrs</a> *ahrs);</div>
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| 183 | <div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">void</span> SetUsRangeFinder(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_us_range_finder.html">sensor::UsRangeFinder</a> *us);</div>
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| 184 | <div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">void</span> SetBatteryMonitor(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_battery_monitor.html">sensor::BatteryMonitor</a> *battery);</div>
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| 185 | <div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">void</span> SetVerticalCamera(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_camera.html">sensor::Camera</a> *verticalCamera);</div>
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| 186 | <div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div>
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| 187 | <div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">private</span>:</div>
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| 188 | <div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="classflair_1_1sensor_1_1_imu.html">sensor::Imu</a> *imu;</div>
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| 189 | <div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="classflair_1_1filter_1_1_ahrs.html">filter::Ahrs</a> *ahrs;</div>
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| 190 | <div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="classflair_1_1actuator_1_1_bldc.html">actuator::Bldc</a> *bldc;</div>
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| 191 | <div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *multiplex;</div>
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| 192 | <div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classflair_1_1sensor_1_1_us_range_finder.html">sensor::UsRangeFinder</a> *us;</div>
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| 193 | <div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classflair_1_1meta_1_1_meta_us_range_finder.html">MetaUsRangeFinder</a> *meta_us;</div>
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| 194 | <div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="classflair_1_1sensor_1_1_vrpn_client.html">sensor::VrpnClient</a> *vrpnclient;</div>
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| 195 | <div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="classflair_1_1meta_1_1_meta_vrpn_object.html">MetaVrpnObject</a> *uav_vrpn;</div>
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| 196 | <div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classflair_1_1sensor_1_1_battery_monitor.html">sensor::BatteryMonitor</a> *battery;</div>
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| 197 | <div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classflair_1_1sensor_1_1_camera.html">sensor::Camera</a> *verticalCamera;</div>
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| 198 | <div class="line"><a name="l00100"></a><span class="lineno"> 100</span> };</div>
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| 199 | <div class="line"><a name="l00101"></a><span class="lineno"> 101</span> } <span class="comment">// end namespace meta</span></div>
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| 200 | <div class="line"><a name="l00102"></a><span class="lineno"> 102</span> } <span class="comment">// end namespace flair</span></div>
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| 201 | <div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="preprocessor">#endif // HDSUAV_H</span></div>
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| 202 | <div class="ttc" id="classflair_1_1sensor_1_1_camera_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_camera.html">flair::sensor::Camera</a></div><div class="ttdoc">Base class for Camera. </div><div class="ttdef"><b>Definition:</b> Camera.h:39</div></div>
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| 203 | <div class="ttc" id="classflair_1_1core_1_1_object_html"><div class="ttname"><a href="classflair_1_1core_1_1_object.html">flair::core::Object</a></div><div class="ttdoc">Base class for all Framework's classes. </div><div class="ttdef"><b>Definition:</b> Object.h:77</div></div>
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| 204 | <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>
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| 205 | <div class="ttc" id="classflair_1_1sensor_1_1_us_range_finder_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_us_range_finder.html">flair::sensor::UsRangeFinder</a></div><div class="ttdoc">Base class for UsRangeFinder. </div><div class="ttdef"><b>Definition:</b> UsRangeFinder.h:40</div></div>
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| 206 | <div class="ttc" id="classflair_1_1sensor_1_1_imu_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html">flair::sensor::Imu</a></div><div class="ttdoc">Base class for Imu. </div><div class="ttdef"><b>Definition:</b> Imu.h:43</div></div>
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| 207 | <div class="ttc" id="classflair_1_1filter_1_1_ahrs_html"><div class="ttname"><a href="classflair_1_1filter_1_1_ahrs.html">flair::filter::Ahrs</a></div><div class="ttdoc">Abstract class for AHRS. </div><div class="ttdef"><b>Definition:</b> Ahrs.h:48</div></div>
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| 208 | <div class="ttc" id="classflair_1_1filter_1_1_uav_multiplex_html"><div class="ttname"><a href="classflair_1_1filter_1_1_uav_multiplex.html">flair::filter::UavMultiplex</a></div><div class="ttdoc">Class defining uav multiplexing. </div><div class="ttdef"><b>Definition:</b> UavMultiplex.h:38</div></div>
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| 209 | <div class="ttc" id="classflair_1_1core_1_1_framework_manager_html"><div class="ttname"><a href="classflair_1_1core_1_1_framework_manager.html">flair::core::FrameworkManager</a></div><div class="ttdoc">Main class of the Framework library. </div><div class="ttdef"><b>Definition:</b> FrameworkManager.h:45</div></div>
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| 210 | <div class="ttc" id="classflair_1_1meta_1_1_meta_us_range_finder_html"><div class="ttname"><a href="classflair_1_1meta_1_1_meta_us_range_finder.html">flair::meta::MetaUsRangeFinder</a></div><div class="ttdoc">Classe haut niveau pour capteur à ultra son. </div><div class="ttdef"><b>Definition:</b> MetaUsRangeFinder.h:40</div></div>
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| 211 | <div class="ttc" id="_object_8h_html"><div class="ttname"><a href="_object_8h.html">Object.h</a></div><div class="ttdoc">Base class for all Framework's classes. </div></div>
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| 212 | <div class="ttc" id="classflair_1_1sensor_1_1_battery_monitor_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_battery_monitor.html">flair::sensor::BatteryMonitor</a></div><div class="ttdoc">Base class for battery monitor. </div><div class="ttdef"><b>Definition:</b> BatteryMonitor.h:34</div></div>
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| 213 | <div class="ttc" id="classflair_1_1meta_1_1_uav_html"><div class="ttname"><a href="classflair_1_1meta_1_1_uav.html">flair::meta::Uav</a></div><div class="ttdoc">Base class to construct sensors/actuators depending on uav type. </div><div class="ttdef"><b>Definition:</b> Uav.h:47</div></div>
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| 214 | <div class="ttc" id="classflair_1_1actuator_1_1_bldc_html"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html">flair::actuator::Bldc</a></div><div class="ttdoc">Base class for brushless motors drivers. </div><div class="ttdef"><b>Definition:</b> Bldc.h:38</div></div>
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| 215 | <div class="ttc" id="classflair_1_1meta_1_1_meta_vrpn_object_html"><div class="ttname"><a href="classflair_1_1meta_1_1_meta_vrpn_object.html">flair::meta::MetaVrpnObject</a></div><div class="ttdoc">Classe haut niveau intégrant un objet VRPN. </div><div class="ttdef"><b>Definition:</b> MetaVrpnObject.h:47</div></div>
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| 216 | <div class="ttc" id="classflair_1_1sensor_1_1_vrpn_client_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_vrpn_client.html">flair::sensor::VrpnClient</a></div><div class="ttdoc">Class to connect to a Vrpn server. </div><div class="ttdef"><b>Definition:</b> VrpnClient.h:39</div></div>
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| 217 | </div><!-- fragment --></div><!-- contents -->
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| 218 | </div><!-- doc-content -->
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| 219 | <!-- start footer part -->
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| 220 | <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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| 221 | <ul>
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| 222 | <li class="navelem"><a class="el" href="dir_795fcb729bac4b07de678d11c3b7bf3b.html">gsanahuj</a></li><li class="navelem"><a class="el" href="dir_d9f696bd07998dbcfc5b49e19dc5f66d.html">igep</a></li><li class="navelem"><a class="el" href="dir_cecb9d1b9ff0c5bb6bd9d3ae75a47986.html">flair-src</a></li><li class="navelem"><a class="el" href="dir_9733168e1eafb017f79f3cf37481363a.html">lib</a></li><li class="navelem"><a class="el" href="dir_6c25be7f330a41d3c46a1b0f5a7f8efe.html">FlairMeta</a></li><li class="navelem"><a class="el" href="dir_cd6db5e8fcd6e347d64fdb79d4a6d9fc.html">src</a></li><li class="navelem"><a class="el" href="_uav_8h.html">Uav.h</a></li>
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| 223 | <li class="footer">Generated on Wed Jun 22 2016 08:08:41 for Flair by
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| 224 | <a href="http://www.doxygen.org/index.html">
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| 225 | <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
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| 226 | </ul>
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| 227 | </div>
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| 228 | </body>
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| 229 | </html>
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