source: flair-dev/trunk/include/FlairSimulator/X8.h@ 50

Last change on this file since 50 was 50, checked in by Sanahuja Guillaume, 5 years ago

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File size: 1.5 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: 2014/04/03
6// filename: X8.h
7//
8// author: Majd Saied, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant un X8
14//
15/*********************************************************************/
16
17#ifndef X8_H
18#define X8_H
19
20#include <Model.h>
21
[13]22namespace flair {
23namespace core {
24class Mutex;
[8]25}
[13]26namespace gui {
27class DoubleSpinBox;
28}
29namespace actuator {
30class SimuBldc;
31}
32}
[8]33
[13]34namespace flair {
35namespace simulator {
36class Blade;
[8]37
[13]38class X8 : public Model {
39public:
[50]40 X8(std::string name, uint32_t modelId);
[13]41 ~X8();
42 virtual void Draw(void);
43 virtual void ExtraDraw(void){};
44
45protected:
[8]46#ifdef GL
[13]47 Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
48 Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
[8]49#endif
[13]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 core::Mutex *motor_speed_mutex;
58#endif
[8]59
[13]60 actuator::SimuBldc *motors;
61 float motor_speed[8];
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::DoubleSpinBox *j_r, *sigma, *S;
67};
[8]68} // end namespace simulator
69} // end namespace flair
70#endif // X8_H
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