source: flair-src/tags/latest/demos/MixedReality/virtual/uav/src/App.h@ 451

Last change on this file since 451 was 293, checked in by Sanahuja Guillaume, 3 years ago

folder reorganization

File size: 1.6 KB
Line 
1// created: 2019/01/09
2// filename: App.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: mixed reality demo, virtual uav side
10//
11//
12/*********************************************************************/
13
14#ifndef APP_H
15#define APP_H
16
17#include <UavStateMachine.h>
18
19namespace flair {
20 namespace gui {
21 class PushButton;
22 }
23 namespace meta {
24 class MetaVrpnObject;
25 }
26 namespace sensor {
27 class TargetController;
28 }
29}
30
31class App : public flair::meta::UavStateMachine {
32 public:
33 App(flair::sensor::TargetController *controller);
34 ~App();
35
36 private:
37
38 enum class BehaviourMode_t {
39 Default,
40 PositionHold,
41 };
42
43 BehaviourMode_t behaviourMode;
44 bool vrpnLost;
45
46 void VrpnPositionHold(void);
47 void ExtraSecurityCheck(void);
48 void ExtraCheckPushButton(void);
49 void ExtraCheckJoystick(void);
50 const flair::core::AhrsData *GetOrientation(void) const;
51 void AltitudeValues(float &z,float &dz) const;
52 void PositionValues(flair::core::Vector2Df &pos_error,flair::core::Vector2Df &vel_error,float &yaw_ref);
53 flair::core::AhrsData *GetReferenceOrientation(void);
54 void SignalEvent(Event_t event);
55
56 flair::filter::Pid *uX, *uY;
57
58 flair::core::Vector2Df posHold;
59 float yawHold;
60
61 flair::gui::PushButton *positionHold;
62 flair::meta::MetaVrpnObject *uavVrpn;
63 flair::core::AhrsData *customReferenceOrientation,*customOrientation;
64};
65
66#endif // APP_H
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