source: flair-dev/trunk/include/FlairSensorActuator/SimuBldc.h@ 45

Last change on this file since 45 was 13, checked in by Bayard Gildas, 6 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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