source: flair-src/trunk/lib/FlairFilter/src/JoyReference.h@ 10

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file JoyReference.h
 * \brief Class creating references from a joystick
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2012/08/29
 * \version 4.0
 */

#ifndef JOYREFERENCE_H
#define JOYREFERENCE_H

#include <IODevice.h>
#include <stdint.h>

namespace flair
{
    namespace core {
        class Quaternion;
        class AhrsData;
    }
    namespace gui {
        class LayoutPosition;
    }
}

class JoyReference_impl;

namespace flair { namespace filter {
    /*! \class JoyReference
    *
    * \brief Class creating references from a joystick
    */
    class JoyReference : public core::IODevice
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a JoyReference at given position. \n
            * The JoyReference will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            * JoyReference compute reference in quaternion, wz, altitude and altitude speed.
            *
            * \param position position
            * \param name name
            */
            JoyReference(const gui::LayoutPosition* position,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~JoyReference();

            /*!
            * \brief Set roll axis value
            *
            * \param value value
            */
            void SetRollAxis(float value);

            /*!
            * \brief Set pitch axis value
            *
            * \param value value
            */
            void SetPitchAxis(float value);

            /*!
            * \brief Set yaw axis value
            *
            * \param value value
            */
            void SetYawAxis(float value);

            /*!
            * \brief Set thrust axis value
            *
            * \param value value
            */
            void SetAltitudeAxis(float value);

            /*!
            * \brief Get orientation reference
            *
            * \return reference
            */
            core::AhrsData* GetReferenceOrientation(void) const;

            /*!
            * \brief Get z reference
            *
            * \return reference
            */
            float ZRef(void) const;

            /*!
            * \brief Get z derivative reference
            *
            * \return reference
            */
            float DzRef(void) const;

            /*!
            * \brief Get roll trim
            *
            * \return trim value
            */
            float RollTrim(void) const;

            /*!
            * \brief Get pitch trim
            *
            * \return trim value
            */
            float PitchTrim(void) const;

            /*!
            * \brief Set yaw reference
            *
            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
            * This method reset the yaw.
            *
            * \param value value
            */
            void SetYawRef(float value);

            /*!
            * \brief Set yaw reference
            *
            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
            * This method reset the yaw.
            *
            * \param value value, only the yaw part of the quaternion is used
            */
            void SetYawRef(core::Quaternion const &value);

            /*!
            * \brief Set z reference
            *
            * Altitude of the output is obtained by integrating the vz desired altitude speed.\n
            * This method reset z.
            *
            * \param value value
            */
            void SetZRef(float value);

            /*!
            * \brief Trim up roll
            *
            * Roll trim value is increased by one
            */
            void RollTrimUp(void);

            /*!
            * \brief Trim down roll
            *
            * Roll trim value is decreased by one
            */
            void RollTrimDown(void);

            /*!
            * \brief Trim up pitch
            *
            * Pitch trim value is increased by one
            */
            void PitchTrimUp(void);

            /*!
            * \brief Trim down pitch
            *
            * Pitch trim value is decreased by one
            */
            void PitchTrimDown(void);

            /*!
            * \brief Update references
            *
            * Calls UpdateFrom with values entered manually.
            *
            * \param time time
            */
            void Update(core::Time time);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            class JoyReference_impl* pimpl_;
    };
} // end namespace sensor
} // end namespace flair

#endif // JOYREFERENCE_H