source: flair-src/trunk/demos/Skeletons/CustomTorques/src/MyApp.h@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 6 years ago

modifs uav vrpn i686

File size: 1.1 KB
Line 
1// created: 2015/10/29
2// filename: MyApp.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: skeleton to use UavStateMachine with custom torques only
10//
11//
12/*********************************************************************/
13
14#ifndef MYAPP_H
15#define MYAPP_H
16
17#include <UavStateMachine.h>
18
19namespace framework {
20 namespace gui {
21 class PushButton;
22 }
23 namespace sensor {
24 class TargetController;
25 }
26}
27
28class MyApp : public flair::meta::UavStateMachine {
29 public:
30 MyApp(flair::sensor::TargetController *controller);
31 ~MyApp();
32
33 private:
34 enum class BehaviourMode_t {
35 Default,
36 CustomTorques
37 };
38
39 BehaviourMode_t behaviourMode;
40
41 void ComputeCustomTorques(flair::core::Euler &torques);
42 void StartCustomTorques(void);
43 void StopCustomTorques(void);
44 void ExtraCheckPushButton(void);
45 void ExtraCheckJoystick(void);
46 void SignalEvent(Event_t event);
47
48 flair::gui::PushButton *start_CustomTorques,*stop_CustomTorques;
49};
50
51#endif // MYAPP_H
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