source: flair-dev/trunk/include/FlairSimulator/X4.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 1.4 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//  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;
28class SpinBox;
29}
30namespace actuator {
31class SimuBldc;
32}
33}
34
35namespace flair {
36namespace simulator {
37class Blade;
38
39class X4 : public Model {
40public:
41  X4(std::string name, uint32_t modelId);
42  ~X4();
43#ifdef GL
44  virtual void Draw(void);
45  virtual void ExtraDraw(void){};
46
47protected:
48  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
49  core::Mutex *motor_speed_mutex;
50#endif
51private:
52  void CalcModel(void);
53#ifdef GL
54  void AnimateModel(void);
55  size_t dbtSize(void) const;
56  void WritedbtBuf(char *dbtbuf);
57  void ReaddbtBuf(char *dbtbuf);
58#endif
59
60  actuator::SimuBldc *motors;
61  float motor_speed[4];
62  gui::DoubleSpinBox *m, *arm_length, *l_cg;
63  gui::DoubleSpinBox *k_mot, *c_mot;
64  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
65  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
66  gui::SpinBox *motorTimeout;
67};
68} // end namespace simulator
69} // end namespace flair
70#endif // X4_H
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