source: flair-dev/trunk/include/FlairSensorActuator/SimulatedBldc.h @ 94

Last change on this file since 94 was 94, checked in by Sanahuja Guillaume, 2 years ago

draw vrpn axis in simulator

File size: 1.9 KB
RevLine 
[94]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 SimulatedBldc.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 SIMULATEDBLDC_H
14#define SIMULATEDBLDC_H
15
16#include <Bldc.h>
17
18namespace flair {
19namespace core {
20class SharedMem;
21class IODevice;
22class Matrix;
23}
24namespace gui {
25class DoubleSpinBox;
26class Layout;
27}
28}
29
30namespace flair {
31namespace actuator {
32/*! \class SimulatedBldc
33*
34* \brief Class for a simulation bldc
35*
36*/
37class SimulatedBldc : public Bldc {
38public:
39  /*!
40  * \brief Constructor
41  *
42  * Construct a SimulatedBldc
43  *
44  * \param parent parent
45  * \param layout layout
46  * \param name name
47  * \param motors_count number of motors
48  * \param modelId Model id
49  * \param deviceId Bldc id of the Model
50  */
51  SimulatedBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
52           uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
53
54  /*!
55  * \brief Destructor
56  *
57  */
58  ~SimulatedBldc();
59
60  /*!
61  * \brief Has speed measurement
62  *
63  * Reimplemented from Bldc. \n
64  *
65  * \return true if it has speed measurement
66  */
67  bool HasSpeedMeasurement(void) const { return false; };
68
69  /*!
70  * \brief Has current measurement
71  *
72  * Reimplemented from Bldc. \n
73  *
74  * \return true if it has current measurement
75  */
76  bool HasCurrentMeasurement(void) const { return false; };
77
78private:
79  /*!
80  * \brief Set motors values
81  *
82  * Reimplemented from Bldc. \n
83  * Values size must be the same as MotorsCount()
84  *
85  * \param values motor values
86  */
87  void SetMotors(float *value);
88 
89  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
90  core::SharedMem *shmem;
91  gui::DoubleSpinBox *k;
92  char *buf;
93
94};
95} // end namespace actuator
96} // end namespace flair
97#endif // SIMULATEDBLDC_H
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