source: flair-dev/trunk/include/FlairMeta/MetaDualShock3.h @ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 5 years ago

meta

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1/*!
2 * \file MetaDualShock3.h
3 * \brief Classe intégrant la manette DualShock3 et les consignes joystick
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2014/01/14
6 * \version 3.4
7 */
8
9#ifndef METADUALSHOCK3_H
10#define METADUALSHOCK3_H
11
12#include <TargetEthController.h>
13
14namespace flair {
15    namespace core {
16        class AhrsData;
17        class Quaternion;
18    }
19    namespace filter {
20        class Ahrs;
21    }
22}
23
24class MetaDualShock3_impl;
25
26namespace flair {
27namespace meta {
28
29    /*! \class MetaDualShock3
30    *
31    * \brief Classe intégrant la manette MetaDualShock3
32    */
33    class MetaDualShock3 : public sensor::TargetEthController {
34        friend class ::MetaDualShock3_impl;
35
36        public:
37            MetaDualShock3(core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority);
38            ~MetaDualShock3();
39            core::AhrsData* GetReferenceOrientation(void) const;
40            float ZRef(void) const;
41            float DzRef(void) const;
42            void SetYawRef(float value);
43            /*!
44            * \brief Set yaw reference
45            *
46            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
47            * This method reset the yaw.
48            *
49            * \param value value, only the yaw part of the quaternion is used
50            */
51            void SetYawRef(core::Quaternion const &value);
52            void SetZRef(float value);
53            float RollTrim(void) const;
54            float PitchTrim(void) const;
55            void ErrorNotify(void);
56            void Rumble(uint8_t left_force,uint8_t left_timeout=20,uint8_t right_force=0,uint8_t right_timeout=0);
57            void SetLedON(unsigned int ledId);
58            void SetLedOFF(unsigned int ledId);
59            void FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout);
60
61        private:
62            class MetaDualShock3_impl* pimpl_;
63
64    };
65} // end namespace meta
66} // end namespace flair
67#endif // METADUALSHOCK3_H
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