source: flair-src/trunk/demos/Skeletons/CustomTorques/src/MyApp.h @ 43

Last change on this file since 43 was 43, checked in by Sanahuja Guillaume, 5 years ago

skeletons

File size: 1.2 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::meta::Uav* uav,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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