source: flair-dev/trunk/include/FlairSimulator/X4.h@ 46

Last change on this file since 46 was 34, checked in by Sanahuja Guillaume, 8 years ago

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File size: 1.7 KB
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[9]1// %flair:license{
[13]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[9]4// %flair:license}
[8]5// created: 2012/08/21
6// filename: X4.h
7//
8// author: Osamah Saif, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant un x4
14//
15/*********************************************************************/
16
17#ifndef X4_H
18#define X4_H
19
20#include <Model.h>
21#include <stdint.h>
22#include <stdio.h>
23
[13]24namespace flair {
25namespace core {
26class Mutex;
[8]27}
[13]28namespace gui {
29class DoubleSpinBox;
30}
31namespace actuator {
32class SimuBldc;
33}
34}
[8]35
36#ifdef GL
[13]37namespace irr {
38namespace scene {
39class IMesh;
[8]40}
[13]41}
[8]42#endif
43
[13]44namespace flair {
45namespace simulator {
46class Simulator;
47class Blade;
48class MeshSceneNode;
[8]49
[13]50class X4 : public Model {
51public:
52 X4(const Simulator *parent, std::string name, int dev_id);
53 ~X4();
[8]54#ifdef GL
[13]55 virtual void Draw(void);
56 virtual void ExtraDraw(void){};
[8]57
[13]58protected:
59 irr::scene::IMesh *red_arm, *black_arm, *motor;
60 MeshSceneNode *fl_arm, *fr_arm, *rl_arm, *rr_arm;
61 MeshSceneNode *fl_motor, *fr_motor, *rl_motor, *rr_motor;
62 Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
63 core::Mutex *motor_speed_mutex;
[8]64#endif
[13]65private:
66 void CalcModel(void);
67#ifdef GL
68 void AnimateModel(void);
69 size_t dbtSize(void) const;
70 void WritedbtBuf(char *dbtbuf);
71 void ReaddbtBuf(char *dbtbuf);
72#endif
[8]73
[13]74 actuator::SimuBldc *motors;
75 float motor_speed[4];
76 gui::DoubleSpinBox *m, *arm_length, *l_cg;
77 gui::DoubleSpinBox *k_mot, *c_mot;
78 gui::DoubleSpinBox *f_air_vert, *f_air_lat;
79 gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
80};
[8]81} // end namespace simulator
82} // end namespace flair
83#endif // X4_H
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