[21] | 1 | // created: 2011/05/01
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| 2 | // filename: CircleFollower.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: demo cercle avec optitrack
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #ifndef CIRCLEFOLLOWER_H
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| 15 | #define CIRCLEFOLLOWER_H
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| 16 |
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| 17 | #include <UavStateMachine.h>
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| 18 |
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[23] | 19 | namespace flair {
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[21] | 20 | namespace gui {
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| 21 | class PushButton;
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| 22 | }
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| 23 | namespace filter {
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| 24 | class TrajectoryGenerator2DCircle;
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| 25 | }
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| 26 | namespace meta {
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| 27 | class MetaVrpnObject;
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| 28 | }
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[38] | 29 | namespace sensor {
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| 30 | class TargetController;
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| 31 | }
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[21] | 32 | }
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| 33 |
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[23] | 34 | class CircleFollower : public flair::meta::UavStateMachine {
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[21] | 35 | public:
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[122] | 36 | CircleFollower(flair::sensor::TargetController *controller);
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[21] | 37 | ~CircleFollower();
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| 38 |
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| 39 | private:
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[239] | 40 |
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| 41 | enum class BehaviourMode_t {
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[21] | 42 | Default,
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| 43 | PositionHold,
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| 44 | Circle
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| 45 | };
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| 46 |
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| 47 | BehaviourMode_t behaviourMode;
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| 48 | bool vrpnLost;
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| 49 |
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| 50 | void VrpnPositionHold(void);//flight mode
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| 51 | void StartCircle(void);
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| 52 | void StopCircle(void);
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| 53 | void ExtraSecurityCheck(void);
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| 54 | void ExtraCheckPushButton(void);
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| 55 | void ExtraCheckJoystick(void);
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[23] | 56 | const flair::core::AhrsData *GetOrientation(void) const;
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[167] | 57 | void AltitudeValues(float &z,float &dz) const;
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| 58 | void PositionValues(flair::core::Vector2Df &pos_error,flair::core::Vector2Df &vel_error,float &yaw_ref);
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[23] | 59 | flair::core::AhrsData *GetReferenceOrientation(void);
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[21] | 60 | void SignalEvent(Event_t event);
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| 61 |
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[23] | 62 | flair::filter::Pid *uX, *uY;
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[21] | 63 |
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[167] | 64 | flair::core::Vector2Df posHold;
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[21] | 65 | float yawHold;
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| 66 |
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[171] | 67 | flair::gui::PushButton *startCircle,*stopCircle,*positionHold;
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[122] | 68 | flair::meta::MetaVrpnObject *targetVrpn,*uavVrpn;
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[23] | 69 | flair::filter::TrajectoryGenerator2DCircle *circle;
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| 70 | flair::core::AhrsData *customReferenceOrientation,*customOrientation;
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[21] | 71 | };
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| 72 |
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| 73 | #endif // CIRCLEFOLLOWER_H
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