| [9] | 1 | // %flair:license{
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| [13] | 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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| [9] | 4 | // %flair:license}
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| [7] | 5 | /*!
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| 6 | * \file MetaDualShock3.h
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| 7 | * \brief Classe intégrant la manette DualShock3 et les consignes joystick
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/01/14
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| 10 | * \version 3.4
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| 11 | */
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| 12 |
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| 13 | #ifndef METADUALSHOCK3_H
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| 14 | #define METADUALSHOCK3_H
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| 15 |
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| [25] | 16 | #include <TargetController.h>
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| 17 | #include <IODevice.h>
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| [7] | 18 |
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| 19 | namespace flair {
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| [13] | 20 | namespace core {
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| 21 | class AhrsData;
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| 22 | class Quaternion;
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| [7] | 23 | }
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| [13] | 24 | namespace filter {
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| 25 | class Ahrs;
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| 26 | }
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| 27 | }
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| [7] | 28 |
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| 29 | class MetaDualShock3_impl;
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| 30 |
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| 31 | namespace flair {
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| 32 | namespace meta {
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| 33 |
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| [13] | 34 | /*! \class MetaDualShock3
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| 35 | *
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| 36 | * \brief Classe intégrant la manette MetaDualShock3
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| 37 | */
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| [25] | 38 | class MetaDualShock3 : public core::IODevice {
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| [13] | 39 | friend class ::MetaDualShock3_impl;
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| [7] | 40 |
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| [13] | 41 | public:
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| 42 | MetaDualShock3(core::FrameworkManager *parent, std::string name,
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| [25] | 43 | sensor::TargetController *controller);
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| [13] | 44 | ~MetaDualShock3();
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| 45 | core::AhrsData *GetReferenceOrientation(void) const;
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| 46 | float ZRef(void) const;
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| 47 | float DzRef(void) const;
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| 48 | void SetYawRef(float value);
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| 49 | /*!
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| 50 | * \brief Set yaw reference
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| 51 | *
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| 52 | * Yaw part of the output quaternion is obtained by integrating the wz desired
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| 53 | *angular speed.\n
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| 54 | * This method reset the yaw.
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| 55 | *
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| 56 | * \param value value, only the yaw part of the quaternion is used
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| 57 | */
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| 58 | void SetYawRef(core::Quaternion const &value);
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| 59 | void SetZRef(float value);
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| 60 | float RollTrim(void) const;
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| 61 | float PitchTrim(void) const;
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| 62 | void ErrorNotify(void);
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| 63 | void Rumble(uint8_t left_force, uint8_t left_timeout = 20,
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| 64 | uint8_t right_force = 0, uint8_t right_timeout = 0);
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| 65 | void SetLedON(unsigned int ledId);
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| 66 | void SetLedOFF(unsigned int ledId);
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| 67 | void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout);
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| [7] | 68 |
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| [25] | 69 | private:
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| 70 | class MetaDualShock3_impl* pimpl_;
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| 71 | void UpdateFrom(const flair::core::io_data *data);
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| 72 | sensor::TargetController *controller;
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| 73 | };
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| [7] | 74 | } // end namespace meta
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| 75 | } // end namespace flair
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| 76 | #endif // METADUALSHOCK3_H
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