[9] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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[6] | 5 | /*!
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| 6 | * \file JoyReference.h
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| 7 | * \brief Class creating references from a joystick
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2012/08/29
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef JOYREFERENCE_H
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| 14 | #define JOYREFERENCE_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <stdint.h>
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| 18 |
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| 19 | namespace flair
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| 20 | {
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| 21 | namespace core {
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| 22 | class Quaternion;
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| 23 | class AhrsData;
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| 24 | }
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| 25 | namespace gui {
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| 26 | class LayoutPosition;
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| 27 | }
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| 28 | }
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| 29 |
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| 30 | class JoyReference_impl;
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| 31 |
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| 32 | namespace flair { namespace filter {
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| 33 | /*! \class JoyReference
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| 34 | *
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| 35 | * \brief Class creating references from a joystick
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| 36 | */
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| 37 | class JoyReference : public core::IODevice
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| 38 | {
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| 39 | public:
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| 40 | /*!
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| 41 | * \brief Constructor
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| 42 | *
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| 43 | * Construct a JoyReference at given position. \n
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| 44 | * The JoyReference will automatically be child of position->getLayout() Layout. After calling this function,
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| 45 | * position will be deleted as it is no longer usefull. \n
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| 46 | * JoyReference compute reference in quaternion, wz, altitude and altitude speed.
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| 47 | *
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| 48 | * \param position position
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| 49 | * \param name name
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| 50 | */
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| 51 | JoyReference(const gui::LayoutPosition* position,std::string name);
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| 52 |
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| 53 | /*!
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| 54 | * \brief Destructor
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| 55 | *
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| 56 | */
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| 57 | ~JoyReference();
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| 58 |
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| 59 | /*!
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| 60 | * \brief Set roll axis value
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| 61 | *
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| 62 | * \param value value
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| 63 | */
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| 64 | void SetRollAxis(float value);
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| 65 |
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| 66 | /*!
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| 67 | * \brief Set pitch axis value
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| 68 | *
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| 69 | * \param value value
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| 70 | */
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| 71 | void SetPitchAxis(float value);
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| 72 |
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| 73 | /*!
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| 74 | * \brief Set yaw axis value
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| 75 | *
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| 76 | * \param value value
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| 77 | */
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| 78 | void SetYawAxis(float value);
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| 79 |
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| 80 | /*!
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| 81 | * \brief Set thrust axis value
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| 82 | *
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| 83 | * \param value value
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| 84 | */
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| 85 | void SetAltitudeAxis(float value);
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| 86 |
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| 87 | /*!
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| 88 | * \brief Get orientation reference
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| 89 | *
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| 90 | * \return reference
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| 91 | */
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| 92 | core::AhrsData* GetReferenceOrientation(void) const;
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| 93 |
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| 94 | /*!
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| 95 | * \brief Get z reference
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| 96 | *
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| 97 | * \return reference
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| 98 | */
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| 99 | float ZRef(void) const;
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| 100 |
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| 101 | /*!
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| 102 | * \brief Get z derivative reference
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| 103 | *
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| 104 | * \return reference
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| 105 | */
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| 106 | float DzRef(void) const;
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| 107 |
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| 108 | /*!
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| 109 | * \brief Get roll trim
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| 110 | *
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| 111 | * \return trim value
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| 112 | */
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| 113 | float RollTrim(void) const;
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| 114 |
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| 115 | /*!
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| 116 | * \brief Get pitch trim
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| 117 | *
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| 118 | * \return trim value
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| 119 | */
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| 120 | float PitchTrim(void) const;
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| 121 |
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| 122 | /*!
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| 123 | * \brief Set yaw reference
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| 124 | *
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| 125 | * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
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| 126 | * This method reset the yaw.
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| 127 | *
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| 128 | * \param value value
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| 129 | */
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| 130 | void SetYawRef(float value);
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| 131 |
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| 132 | /*!
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| 133 | * \brief Set yaw reference
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| 134 | *
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| 135 | * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
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| 136 | * This method reset the yaw.
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| 137 | *
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| 138 | * \param value value, only the yaw part of the quaternion is used
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| 139 | */
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| 140 | void SetYawRef(core::Quaternion const &value);
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| 141 |
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| 142 | /*!
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| 143 | * \brief Set z reference
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| 144 | *
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| 145 | * Altitude of the output is obtained by integrating the vz desired altitude speed.\n
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| 146 | * This method reset z.
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| 147 | *
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| 148 | * \param value value
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| 149 | */
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| 150 | void SetZRef(float value);
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| 151 |
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| 152 | /*!
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| 153 | * \brief Trim up roll
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| 154 | *
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| 155 | * Roll trim value is increased by one
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| 156 | */
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| 157 | void RollTrimUp(void);
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| 158 |
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| 159 | /*!
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| 160 | * \brief Trim down roll
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| 161 | *
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| 162 | * Roll trim value is decreased by one
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| 163 | */
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| 164 | void RollTrimDown(void);
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| 165 |
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| 166 | /*!
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| 167 | * \brief Trim up pitch
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| 168 | *
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| 169 | * Pitch trim value is increased by one
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| 170 | */
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| 171 | void PitchTrimUp(void);
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| 172 |
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| 173 | /*!
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| 174 | * \brief Trim down pitch
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| 175 | *
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| 176 | * Pitch trim value is decreased by one
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| 177 | */
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| 178 | void PitchTrimDown(void);
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| 179 |
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| 180 | /*!
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| 181 | * \brief Update references
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| 182 | *
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| 183 | * Calls UpdateFrom with values entered manually.
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| 184 | *
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| 185 | * \param time time
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| 186 | */
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| 187 | void Update(core::Time time);
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| 188 |
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| 189 | private:
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| 190 | /*!
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| 191 | * \brief Update using provided datas
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| 192 | *
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| 193 | * Reimplemented from IODevice.
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| 194 | *
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| 195 | * \param data data from the parent to process
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| 196 | */
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| 197 | void UpdateFrom(const core::io_data *data);
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| 198 |
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| 199 | class JoyReference_impl* pimpl_;
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| 200 | };
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| 201 | } // end namespace sensor
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| 202 | } // end namespace flair
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| 203 |
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| 204 | #endif // JOYREFERENCE_H
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