source: flair-src/trunk/lib/FlairFilter/src/JoyReference_impl.cpp @ 214

Last change on this file since 214 was 214, checked in by Sanahuja Guillaume, 4 years ago

matrix

File size: 6.1 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
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 <Matrix.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
36JoyReference_impl::JoyReference_impl(JoyReference *inSelf,
37                                     const LayoutPosition *position,
38                                     string name)
39    : self(inSelf) {
40
41  ahrsData = new AhrsData(self);
42  input = new Matrix(self, 4, 1, floatType, name);
43
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 Matrix(self, desc, floatType, name);
51  delete desc;
52
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");
69
70  z_ref = 0;
71  previous_time = 0;
72  trim_roll = 0;
73  trim_pitch = 0;
74
75  label_roll->SetText("trim roll: %.2f", trim_roll);
76  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
77}
78
79JoyReference_impl::~JoyReference_impl(void) {}
80
81void JoyReference_impl::SetRollAxis(float value) {
82  input->SetValue(0, 0, value);
83}
84
85void JoyReference_impl::SetPitchAxis(float value) {
86  input->SetValue(1, 0, value);
87}
88
89void JoyReference_impl::SetYawAxis(float value) {
90  input->SetValue(2, 0, value);
91}
92
93void JoyReference_impl::SetAltitudeAxis(float value) {
94  input->SetValue(3, 0, value);
95}
96
97void JoyReference_impl::RollTrimUp(void) {
98  trim_roll += trim->Value();
99  output->SetValue(2, 0, trim_roll);
100  label_roll->SetText("trim roll: %.2f", trim_roll);
101}
102
103void JoyReference_impl::RollTrimDown(void) {
104  trim_roll -= trim->Value();
105  output->SetValue(2, 0, trim_roll);
106  label_roll->SetText("trim roll: %.2f", trim_roll);
107}
108
109void JoyReference_impl::PitchTrimUp(void) {
110  trim_pitch += trim->Value();
111  output->SetValue(3, 0, trim_pitch);
112  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
113}
114
115void JoyReference_impl::PitchTrimDown(void) {
116  trim_pitch -= trim->Value();
117  output->SetValue(3, 0, trim_pitch);
118  label_pitch->SetText("trim pitch: %.2f", trim_pitch);
119}
120
121void JoyReference_impl::SetYawRef(float value) {
122  Euler ref(0, 0, value);
123  input->GetMutex();
124  ref.ToQuaternion(q_z);
125  input->ReleaseMutex();
126
127  Update(GetTime());
128}
129
130void JoyReference_impl::SetZRef(float value) {
131  z_ref = value;
132  output->SetValue(0, 0, z_ref);
133}
134
135float JoyReference_impl::ZRef(void) const { return output->Value(0, 0); }
136
137float JoyReference_impl::dZRef(void) const { return output->Value(1, 0); }
138
139float JoyReference_impl::RollTrim(void) const { return trim_roll; }
140
141float JoyReference_impl::PitchTrim(void) const { return trim_pitch; }
142
143void JoyReference_impl::Update(Time time) {
144  input->SetDataTime(time);
145  UpdateFrom(input);
146}
147
148void JoyReference_impl::UpdateFrom(const io_data *data) {
149  const Matrix* input = dynamic_cast<const Matrix*>(data);
150 
151  if (!input) {
152      self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());
153      return;
154  }
155
156  if (previous_time == 0)
157    previous_time = data->DataTime(); // pour la premiere iteration
158  float delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
159  previous_time = data->DataTime();
160
161  if (button_roll->Clicked() == true) {
162    trim_roll = 0;
163    output->SetValue(2, 0, 0);
164    label_roll->SetText("trim roll: %.2f", trim_roll);
165  }
166  if (button_pitch->Clicked() == true) {
167    trim_pitch = 0;
168    output->SetValue(3, 0, 0);
169    label_pitch->SetText("trim pitch: %.2f", trim_pitch);
170  }
171
172  // les box sont en degrés
173  input->GetMutex();
174
175  Vector3Df theta_xy(
176      -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()),
177      -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0);
178  Vector3Df e_bar = theta_xy;
179  e_bar.Normalize();
180  Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f),
181                  e_bar.x * sin(theta_xy.GetNorm() / 2.0f),
182                  e_bar.y * sin(theta_xy.GetNorm() / 2.0f), 0);
183  q_xy.Normalize();
184
185  float wz_ref = Euler::ToRadian(input->ValueNoMutex(2, 0) * deb_wz->Value());
186  Quaternion w_zd(1, 0, 0, wz_ref * delta_t / 2);
187  w_zd.Normalize();
188  q_z = q_z * w_zd;
189  q_z.Normalize();
190
191  Quaternion q_ref = q_z * q_xy;
192  q_ref.Normalize();
193
194  z_ref += input->ValueNoMutex(3, 0) * deb_dz->Value() * delta_t;
195  float dz_ref = input->ValueNoMutex(3, 0) * deb_dz->Value();
196
197  input->ReleaseMutex();
198
199  ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3Df(0, 0, wz_ref));
200
201  // ouput quaternion for control law
202  output->GetMutex();
203  output->SetValueNoMutex(0, 0, z_ref);
204  output->SetValueNoMutex(1, 0, dz_ref);
205  output->ReleaseMutex();
206
207  output->SetDataTime(data->DataTime());
208}
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