source: flair-src/trunk/lib/FlairFilter/src/JoyReference_impl.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 6.0 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2012/08/29
6//  filename:   JoyReference_impl.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    generation de consignes a partir joystick
14//
15//
16/*********************************************************************/
17
18#include "JoyReference_impl.h"
19#include "JoyReference.h"
20#include <AhrsData.h>
21#include <Euler.h>
22#include <cvmatrix.h>
23#include <Layout.h>
24#include <GroupBox.h>
25#include <DoubleSpinBox.h>
26#include <SpinBox.h>
27#include <Label.h>
28#include <PushButton.h>
29#include <math.h>
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::filter;
35
[15]36JoyReference_impl::JoyReference_impl(JoyReference *inSelf,
37                                     const LayoutPosition *position,
38                                     string name)
39    : self(inSelf) {
[7]40
[15]41  ahrsData = new AhrsData(self);
42  input = new cvmatrix(self, 4, 1, floatType, name);
[7]43
[15]44  cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 1);
45  desc->SetElementName(0, 0, "z");
46  ;
47  desc->SetElementName(1, 0, "dz");
48  desc->SetElementName(2, 0, "trim_roll");
49  desc->SetElementName(3, 0, "trim_pitch");
50  output = new cvmatrix(self, desc, floatType, name);
[148]51  delete desc;
[7]52
[15]53  reglages_groupbox = new GroupBox(position, name);
54  deb_roll = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement roll",
55                               " deg", -45, 45, 1, 0);
56  deb_pitch = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
57                                "debattement pitch", " deg", -45, 45, 1, 0);
58  deb_wz = new DoubleSpinBox(reglages_groupbox->NewRow(), "debattement wz",
59                             " deg/s", -180, 180, 1, 0);
60  deb_dz = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
61                             "debattement dz", " m/s", -2, 2, 0.1, 1);
62  trim = new DoubleSpinBox(reglages_groupbox->NewRow(), "trim", -1, 1, 0.01);
63  label_roll = new Label(reglages_groupbox->NewRow(), "trim roll");
64  button_roll =
65      new PushButton(reglages_groupbox->LastRowLastCol(), "reset roll trim");
66  label_pitch = new Label(reglages_groupbox->NewRow(), "trim pitch");
67  button_pitch =
68      new PushButton(reglages_groupbox->LastRowLastCol(), "reset pitch trim");
[7]69
[15]70  z_ref = 0;
71  previous_time = 0;
72  trim_roll = 0;
73  trim_pitch = 0;
[7]74
[15]75  label_roll->SetText("trim roll: %.2f", trim_roll);
76  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
[7]77}
78
[15]79JoyReference_impl::~JoyReference_impl(void) {}
[7]80
81void JoyReference_impl::SetRollAxis(float value) {
[15]82  input->SetValue(0, 0, value);
[7]83}
84
85void JoyReference_impl::SetPitchAxis(float value) {
[15]86  input->SetValue(1, 0, value);
[7]87}
88
89void JoyReference_impl::SetYawAxis(float value) {
[15]90  input->SetValue(2, 0, value);
[7]91}
92
93void JoyReference_impl::SetAltitudeAxis(float value) {
[15]94  input->SetValue(3, 0, value);
[7]95}
96
97void JoyReference_impl::RollTrimUp(void) {
[15]98  trim_roll += trim->Value();
99  output->SetValue(2, 0, trim_roll);
100  label_roll->SetText("trim roll: %.2f", trim_roll);
[7]101}
102
103void JoyReference_impl::RollTrimDown(void) {
[15]104  trim_roll -= trim->Value();
105  output->SetValue(2, 0, trim_roll);
106  label_roll->SetText("trim roll: %.2f", trim_roll);
[7]107}
108
109void JoyReference_impl::PitchTrimUp(void) {
[15]110  trim_pitch += trim->Value();
111  output->SetValue(3, 0, trim_pitch);
112  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
[7]113}
114
115void JoyReference_impl::PitchTrimDown(void) {
[15]116  trim_pitch -= trim->Value();
117  output->SetValue(3, 0, trim_pitch);
118  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
[7]119}
120
121void JoyReference_impl::SetYawRef(float value) {
[15]122  Euler ref(0, 0, value);
123  input->GetMutex();
124  ref.ToQuaternion(q_z);
125  input->ReleaseMutex();
[7]126
[15]127  Update(GetTime());
[7]128}
129
130void JoyReference_impl::SetZRef(float value) {
[15]131  z_ref = value;
132  output->SetValue(0, 0, z_ref);
[7]133}
134
[15]135float JoyReference_impl::ZRef(void) const { return output->Value(0, 0); }
[7]136
[15]137float JoyReference_impl::dZRef(void) const { return output->Value(1, 0); }
[7]138
[15]139float JoyReference_impl::RollTrim(void) const { return trim_roll; }
[7]140
[15]141float JoyReference_impl::PitchTrim(void) const { return trim_pitch; }
[7]142
143void JoyReference_impl::Update(Time time) {
[15]144  input->SetDataTime(time);
145  UpdateFrom(input);
[7]146}
147
148void JoyReference_impl::UpdateFrom(const io_data *data) {
[15]149  cvmatrix *input = (cvmatrix *)data;
[7]150
[15]151  if (previous_time == 0)
152    previous_time = data->DataTime(); // pour la premiere iteration
153  float delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
154  previous_time = data->DataTime();
[7]155
[15]156  if (button_roll->Clicked() == true) {
157    trim_roll = 0;
158    output->SetValue(2, 0, 0);
159    label_roll->SetText("trim roll: %.2f", trim_roll);
160  }
161  if (button_pitch->Clicked() == true) {
162    trim_pitch = 0;
163    output->SetValue(3, 0, 0);
164    label_pitch->SetText("trim pitch: %.2f", trim_pitch);
165  }
[7]166
[15]167  // les box sont en degrés
168  input->GetMutex();
[7]169
[167]170  Vector3Df theta_xy(
[15]171      -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()),
172      -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0);
[167]173  Vector3Df e_bar = theta_xy;
[15]174  e_bar.Normalize();
175  Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f),
176                  e_bar.x * sin(theta_xy.GetNorm() / 2.0f),
177                  e_bar.y * sin(theta_xy.GetNorm() / 2.0f), 0);
178  q_xy.Normalize();
[7]179
[15]180  float wz_ref = Euler::ToRadian(input->ValueNoMutex(2, 0) * deb_wz->Value());
181  Quaternion w_zd(1, 0, 0, wz_ref * delta_t / 2);
182  w_zd.Normalize();
183  q_z = q_z * w_zd;
184  q_z.Normalize();
[7]185
[15]186  Quaternion q_ref = q_z * q_xy;
187  q_ref.Normalize();
[7]188
[15]189  z_ref += input->ValueNoMutex(3, 0) * deb_dz->Value() * delta_t;
190  float dz_ref = input->ValueNoMutex(3, 0) * deb_dz->Value();
[7]191
[15]192  input->ReleaseMutex();
[7]193
[167]194  ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3Df(0, 0, wz_ref));
[7]195
[15]196  // ouput quaternion for control law
197  output->GetMutex();
198  output->SetValueNoMutex(0, 0, z_ref);
199  output->SetValueNoMutex(1, 0, dz_ref);
200  output->ReleaseMutex();
[7]201
[15]202  output->SetDataTime(data->DataTime());
[7]203}
Note: See TracBrowser for help on using the repository browser.