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source: flair-src/trunk/lib/FlairFilter/src/JoyReference.h@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 8 years ago

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1/*!
2 * \file JoyReference.h
3 * \brief Class creating references from a joystick
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2012/08/29
6 * \version 4.0
7 */
8
9#ifndef JOYREFERENCE_H
10#define JOYREFERENCE_H
11
12#include <IODevice.h>
13#include <stdint.h>
14
15namespace flair
16{
17 namespace core {
18 class Quaternion;
19 class AhrsData;
20 }
21 namespace gui {
22 class LayoutPosition;
23 }
24}
25
26class JoyReference_impl;
27
28namespace flair { namespace filter {
29 /*! \class JoyReference
30 *
31 * \brief Class creating references from a joystick
32 */
33 class JoyReference : public core::IODevice
34 {
35 public:
36 /*!
37 * \brief Constructor
38 *
39 * Construct a JoyReference at given position. \n
40 * The JoyReference will automatically be child of position->getLayout() Layout. After calling this function,
41 * position will be deleted as it is no longer usefull. \n
42 * JoyReference compute reference in quaternion, wz, altitude and altitude speed.
43 *
44 * \param position position
45 * \param name name
46 */
47 JoyReference(const gui::LayoutPosition* position,std::string name);
48
49 /*!
50 * \brief Destructor
51 *
52 */
53 ~JoyReference();
54
55 /*!
56 * \brief Set roll axis value
57 *
58 * \param value value
59 */
60 void SetRollAxis(float value);
61
62 /*!
63 * \brief Set pitch axis value
64 *
65 * \param value value
66 */
67 void SetPitchAxis(float value);
68
69 /*!
70 * \brief Set yaw axis value
71 *
72 * \param value value
73 */
74 void SetYawAxis(float value);
75
76 /*!
77 * \brief Set thrust axis value
78 *
79 * \param value value
80 */
81 void SetAltitudeAxis(float value);
82
83 /*!
84 * \brief Get orientation reference
85 *
86 * \return reference
87 */
88 core::AhrsData* GetReferenceOrientation(void) const;
89
90 /*!
91 * \brief Get z reference
92 *
93 * \return reference
94 */
95 float ZRef(void) const;
96
97 /*!
98 * \brief Get z derivative reference
99 *
100 * \return reference
101 */
102 float DzRef(void) const;
103
104 /*!
105 * \brief Get roll trim
106 *
107 * \return trim value
108 */
109 float RollTrim(void) const;
110
111 /*!
112 * \brief Get pitch trim
113 *
114 * \return trim value
115 */
116 float PitchTrim(void) const;
117
118 /*!
119 * \brief Set yaw reference
120 *
121 * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
122 * This method reset the yaw.
123 *
124 * \param value value
125 */
126 void SetYawRef(float value);
127
128 /*!
129 * \brief Set yaw reference
130 *
131 * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
132 * This method reset the yaw.
133 *
134 * \param value value, only the yaw part of the quaternion is used
135 */
136 void SetYawRef(core::Quaternion const &value);
137
138 /*!
139 * \brief Set z reference
140 *
141 * Altitude of the output is obtained by integrating the vz desired altitude speed.\n
142 * This method reset z.
143 *
144 * \param value value
145 */
146 void SetZRef(float value);
147
148 /*!
149 * \brief Trim up roll
150 *
151 * Roll trim value is increased by one
152 */
153 void RollTrimUp(void);
154
155 /*!
156 * \brief Trim down roll
157 *
158 * Roll trim value is decreased by one
159 */
160 void RollTrimDown(void);
161
162 /*!
163 * \brief Trim up pitch
164 *
165 * Pitch trim value is increased by one
166 */
167 void PitchTrimUp(void);
168
169 /*!
170 * \brief Trim down pitch
171 *
172 * Pitch trim value is decreased by one
173 */
174 void PitchTrimDown(void);
175
176 /*!
177 * \brief Update references
178 *
179 * Calls UpdateFrom with values entered manually.
180 *
181 * \param time time
182 */
183 void Update(core::Time time);
184
185 private:
186 /*!
187 * \brief Update using provided datas
188 *
189 * Reimplemented from IODevice.
190 *
191 * \param data data from the parent to process
192 */
193 void UpdateFrom(const core::io_data *data);
194
195 class JoyReference_impl* pimpl_;
196 };
197} // end namespace sensor
198} // end namespace flair
199
200#endif // JOYREFERENCE_H
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