source: flair-dev/trunk/include/FlairSensorActuator/SimuBldc.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 2.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file SimuBldc.h
7 * \brief Class for a simulation bldc
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMUBLDC_H
14#define SIMUBLDC_H
15
16#include <Bldc.h>
17
18namespace flair {
19namespace core {
20class SharedMem;
21class IODevice;
22class cvmatrix;
23}
24namespace gui {
25class DoubleSpinBox;
26class Layout;
27}
28}
29
30namespace flair {
31namespace actuator {
32/*! \class SimuBldc
33*
34* \brief Class for a simulation bldc
35*
36*/
37class SimuBldc : public Bldc {
38public:
39  /*!
40  * \brief Constructor
41  *
42  * Construct a SimuBldc. Control part.
43  *
44  * \param parent parent
45  * \param layout layout
46  * \param name name
47  * \param motors_count number of motors
48  * \param dev_id device id
49  */
50  SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
51           uint8_t motors_count, uint32_t dev_id);
52
53  /*!
54  * \brief Constructor
55  *
56  * Construct a SimuBldc. Simulation part.
57  *
58  * \param parent parent
59  * \param name name
60  * \param motors_count number of motors
61  * \param dev_id device id
62  */
63  SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
64           uint32_t dev_id);
65
66  /*!
67  * \brief Destructor
68  *
69  */
70  ~SimuBldc();
71
72  /*!
73  * \brief Get motors speeds.
74  *
75  * This function should only be used for the simulation part.
76  *
77  * \param value array to store motors speeds
78  */
79  void GetSpeeds(float *value) const;
80
81  /*!
82  * \brief Has speed measurement
83  *
84  * Reimplemented from Bldc. \n
85  *
86  * \return true if it has speed measurement
87  */
88  bool HasSpeedMeasurement(void) const { return false; };
89
90  /*!
91  * \brief Has current measurement
92  *
93  * Reimplemented from Bldc. \n
94  *
95  * \return true if it has current measurement
96  */
97  bool HasCurrentMeasurement(void) const { return false; };
98
99private:
100  /*!
101  * \brief Set motors values
102  *
103  * Reimplemented from Bldc. \n
104  * Values size must be the same as MotorsCount()
105  *
106  * \param values motor values
107  */
108  void SetMotors(float *value);
109
110  core::SharedMem *shmem;
111  gui::DoubleSpinBox *k;
112};
113} // end namespace actuator
114} // end namespace flair
115#endif // SIMUBLDC_H
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