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104<div class="header">
105  <div class="headertitle">
106<div class="title">X8.h</div>  </div>
107</div><!--header-->
108<div class="contents">
109<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// %flair:license{</span></div>
110<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>
111<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
112<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// %flair:license}</span></div>
113<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  created:    2014/04/03</span></div>
114<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//  filename:   X8.h</span></div>
115<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//</span></div>
116<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//  author:     Majd Saied, Guillaume Sanahuja</span></div>
117<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//              Copyright Heudiasyc UMR UTC/CNRS 7253</span></div>
118<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//</span></div>
119<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//  version:    $Id: $</span></div>
120<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//</span></div>
121<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//  purpose:    classe definissant un X8</span></div>
122<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div>
123<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">/*********************************************************************/</span></div>
124<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div>
125<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#ifndef X8_H</span></div>
126<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#define X8_H</span></div>
127<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
128<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;Model.h&gt;</span></div>
129<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
130<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
131<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>flair {</div>
132<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">namespace </span>core {</div>
133<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">class </span>Mutex;</div>
134<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;}</div>
135<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span>gui {</div>
136<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">class </span>DoubleSpinBox;</div>
137<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div>
138<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span>actuator {</div>
139<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">class </span>SimuBldc;</div>
140<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div>
141<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div>
142<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
143<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#ifdef GL</span></div>
144<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span>irr {</div>
145<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span>scene {</div>
146<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>IMesh;</div>
147<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
148<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;}</div>
149<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#endif</span></div>
150<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
151<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>flair {</div>
152<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>simulator {</div>
153<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">class </span>Simulator;</div>
154<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">class </span>Blade;</div>
155<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">class </span>MeshSceneNode;</div>
156<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
157<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classflair_1_1simulator_1_1_x8.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1simulator_1_1_x8.html">X8</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1simulator_1_1_model.html">Model</a> {</div>
158<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">public</span>:</div>
159<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_x8.html">X8</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1simulator_1_1_simulator.html">Simulator</a> *parent, std::string name, <span class="keywordtype">int</span> dev_id);</div>
160<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  ~<a class="code" href="classflair_1_1simulator_1_1_x8.html">X8</a>();</div>
161<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> Draw(<span class="keywordtype">void</span>);</div>
162<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraDraw(<span class="keywordtype">void</span>){};</div>
163<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
164<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">protected</span>:</div>
165<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#ifdef GL</span></div>
166<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  irr::scene::IMesh *red_arm, *black_arm, *motor;</div>
167<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_mesh_scene_node.html">MeshSceneNode</a> *fl_arm, *fr_arm, *rl_arm, *rr_arm;</div>
168<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_mesh_scene_node.html">MeshSceneNode</a> *tfl_motor, *tfr_motor, *trl_motor, *trr_motor;</div>
169<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_mesh_scene_node.html">MeshSceneNode</a> *bfl_motor, *bfr_motor, *brl_motor, *brr_motor;</div>
170<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_blade.html">Blade</a> *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;</div>
171<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classflair_1_1simulator_1_1_blade.html">Blade</a> *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;</div>
172<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#endif</span></div>
173<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">private</span>:</div>
174<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> CalcModel(<span class="keywordtype">void</span>);</div>
175<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#ifdef GL</span></div>
176<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">bool</span> OnEvent(<span class="keyword">const</span> irr::SEvent &amp;event){};</div>
177<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> AnimateModel(<span class="keywordtype">void</span>);</div>
178<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">size_t</span> dbtSize(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
179<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">void</span> WritedbtBuf(<span class="keywordtype">char</span> *dbtbuf);</div>
180<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">void</span> ReaddbtBuf(<span class="keywordtype">char</span> *dbtbuf);</div>
181<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="classflair_1_1core_1_1_mutex.html">core::Mutex</a> *motor_speed_mutex;</div>
182<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#endif</span></div>
183<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
184<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="classflair_1_1actuator_1_1_simu_bldc.html">actuator::SimuBldc</a> *motors;</div>
185<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">float</span> motor_speed[8];</div>
186<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *m, *arm_length, *l_cg;</div>
187<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *k_mot, *c_mot;</div>
188<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *f_air_vert, *f_air_lat;</div>
189<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *j_roll, *j_pitch, *j_yaw;</div>
190<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *j_r, *sigma, *S;</div>
191<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;};</div>
192<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;} <span class="comment">// end namespace simulator</span></div>
193<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;} <span class="comment">// end namespace flair</span></div>
194<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#endif // X8_H</span></div>
195<div class="ttc" id="classflair_1_1simulator_1_1_blade_html"><div class="ttname"><a href="classflair_1_1simulator_1_1_blade.html">flair::simulator::Blade</a></div><div class="ttdef"><b>Definition:</b> Blade.h:33</div></div>
196<div class="ttc" id="classflair_1_1simulator_1_1_simulator_html"><div class="ttname"><a href="classflair_1_1simulator_1_1_simulator.html">flair::simulator::Simulator</a></div><div class="ttdef"><b>Definition:</b> Simulator.h:37</div></div>
197<div class="ttc" id="classflair_1_1core_1_1_mutex_html"><div class="ttname"><a href="classflair_1_1core_1_1_mutex.html">flair::core::Mutex</a></div><div class="ttdoc">Class defining a mutex. </div><div class="ttdef"><b>Definition:</b> Mutex.h:29</div></div>
198<div class="ttc" id="classflair_1_1simulator_1_1_mesh_scene_node_html"><div class="ttname"><a href="classflair_1_1simulator_1_1_mesh_scene_node.html">flair::simulator::MeshSceneNode</a></div><div class="ttdef"><b>Definition:</b> MeshSceneNode.h:26</div></div>
199<div class="ttc" id="classflair_1_1simulator_1_1_model_html"><div class="ttname"><a href="classflair_1_1simulator_1_1_model.html">flair::simulator::Model</a></div><div class="ttdef"><b>Definition:</b> Model.h:55</div></div>
200<div class="ttc" id="classflair_1_1actuator_1_1_simu_bldc_html"><div class="ttname"><a href="classflair_1_1actuator_1_1_simu_bldc.html">flair::actuator::SimuBldc</a></div><div class="ttdoc">Class for a simulation bldc. </div><div class="ttdef"><b>Definition:</b> SimuBldc.h:37</div></div>
201<div class="ttc" id="classflair_1_1gui_1_1_double_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_double_spin_box.html">flair::gui::DoubleSpinBox</a></div><div class="ttdoc">Class displaying a QDoubleSpinBox on the ground station. </div><div class="ttdef"><b>Definition:</b> DoubleSpinBox.h:28</div></div>
202<div class="ttc" id="classflair_1_1simulator_1_1_x8_html"><div class="ttname"><a href="classflair_1_1simulator_1_1_x8.html">flair::simulator::X8</a></div><div class="ttdef"><b>Definition:</b> X8.h:49</div></div>
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207  <ul>
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