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108<div class="title">Uav.h</div> </div>
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110<div class="contents">
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>&#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 HDSUAV_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define HDSUAV_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="_object_8h.html">Object.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;</div>
120<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
121<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">namespace </span>core {</div>
122<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="keyword">class </span>FrameworkManager;</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;}</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">namespace </span>filter {</div>
125<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">class </span>Ahrs;</div>
126<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">class </span>UavMultiplex;</div>
127<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;}</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">namespace </span>actuator {</div>
129<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">class </span>Bldc;</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">namespace </span>sensor {</div>
132<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">class </span>UsRangeFinder;</div>
133<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">class </span>BatteryMonitor;</div>
134<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="keyword">class </span>VrpnClient;</div>
135<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">class </span>Imu;</div>
136<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="keyword">class </span>Camera;</div>
137<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;}</div>
138<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;}</div>
139<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;</div>
140<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
141<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="keyword">namespace </span>meta {</div>
142<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="keyword">class </span>MetaUsRangeFinder;</div>
143<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">class </span>MetaVrpnObject;</div>
144<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;</div>
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>&#160;<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>
146<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="keyword">public</span>:</div>
147<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="comment">/*</span></div>
148<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="comment"> typedef enum {</span></div>
149<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="comment"> None,</span></div>
150<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;<span class="comment"> Auto,//rt serial if hds x4 ou x8, auto ip sinon</span></div>
151<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;<span class="comment"> AutoIP,</span></div>
152<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;<span class="comment"> UserDefinedIP,</span></div>
153<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="comment"> AutoSerialPort,</span></div>
154<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="comment"> } VRPNType_t;</span></div>
155<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="comment">*/</span></div>
156<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="comment">// uav_name: for optitrack</span></div>
157<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <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>
158<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *multiplex = NULL);</div>
159<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; ~<a class="code" href="classflair_1_1meta_1_1_uav.html">Uav</a>();</div>
160<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keywordtype">void</span> SetupVRPN(std::string optitrack_address, std::string name);</div>
161<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="comment">// vrpn serial: broken, need to add serial port in uav specific code</span></div>
162<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="comment">// void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int</span></div>
163<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="comment">// VRPNSerialObjectId);</span></div>
164<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetupVRPNAutoIP(std::string name);</div>
165<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;</div>
166<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> StartSensors(<span class="keywordtype">void</span>);</div>
167<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keywordtype">void</span> UseDefaultPlot(<span class="keywordtype">void</span>);</div>
168<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <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>
169<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <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>
170<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <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>
171<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <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>
172<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <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>
173<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <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>
174<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <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>
175<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <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>
176<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <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>
177<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <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>
178<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;</div>
179<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;<span class="keyword">protected</span>:</div>
180<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <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>
181<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <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>
182<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <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>
183<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <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>
184<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <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>
185<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <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>
186<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;</div>
187<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;<span class="keyword">private</span>:</div>
188<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_imu.html">sensor::Imu</a> *imu;</div>
189<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <a class="code" href="classflair_1_1filter_1_1_ahrs.html">filter::Ahrs</a> *ahrs;</div>
190<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; <a class="code" href="classflair_1_1actuator_1_1_bldc.html">actuator::Bldc</a> *bldc;</div>
191<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <a class="code" href="classflair_1_1filter_1_1_uav_multiplex.html">filter::UavMultiplex</a> *multiplex;</div>
192<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_us_range_finder.html">sensor::UsRangeFinder</a> *us;</div>
193<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <a class="code" href="classflair_1_1meta_1_1_meta_us_range_finder.html">MetaUsRangeFinder</a> *meta_us;</div>
194<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_vrpn_client.html">sensor::VrpnClient</a> *vrpnclient;</div>
195<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <a class="code" href="classflair_1_1meta_1_1_meta_vrpn_object.html">MetaVrpnObject</a> *uav_vrpn;</div>
196<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_battery_monitor.html">sensor::BatteryMonitor</a> *battery;</div>
197<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_camera.html">sensor::Camera</a> *verticalCamera;</div>
198<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;};</div>
199<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;} <span class="comment">// end namespace meta</span></div>
200<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;} <span class="comment">// end namespace flair</span></div>
201<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;<span class="preprocessor">#endif // HDSUAV_H</span></div>
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>
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&#39;s classes. </div><div class="ttdef"><b>Definition:</b> Object.h:77</div></div>
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>
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>
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>
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>
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>
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>
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>
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&#39;s classes. </div></div>
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>
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>
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>
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>
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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