source: flair-dev/trunk/include/FlairSimulator/X4.h @ 50

Last change on this file since 50 was 50, checked in by Sanahuja Guillaume, 4 years ago

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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//  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
22namespace flair {
23namespace core {
24class Mutex;
25}
26namespace gui {
27class DoubleSpinBox;
28}
29namespace actuator {
30class SimuBldc;
31}
32}
33
34namespace flair {
35namespace simulator {
36class Blade;
37
38class X4 : public Model {
39public:
40  X4(std::string name, uint32_t modelId);
41  ~X4();
42#ifdef GL
43  virtual void Draw(void);
44  virtual void ExtraDraw(void){};
45
46protected:
47  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
48  core::Mutex *motor_speed_mutex;
49#endif
50private:
51  void CalcModel(void);
52#ifdef GL
53  void AnimateModel(void);
54  size_t dbtSize(void) const;
55  void WritedbtBuf(char *dbtbuf);
56  void ReaddbtBuf(char *dbtbuf);
57#endif
58
59  actuator::SimuBldc *motors;
60  float motor_speed[4];
61  gui::DoubleSpinBox *m, *arm_length, *l_cg;
62  gui::DoubleSpinBox *k_mot, *c_mot;
63  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
64  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
65};
66} // end namespace simulator
67} // end namespace flair
68#endif // X4_H
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