source: flair-src/trunk/lib/FlairFilter/src/unexported/JoyReference_impl.h@ 411

Last change on this file since 411 was 223, checked in by Sanahuja Guillaume, 4 years ago

add delta time to io_data

File size: 2.0 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.h
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#ifndef JOYREFERENCE_IMPL_H
19#define JOYREFERENCE_IMPL_H
20
21#include <stdint.h>
22#include <Object.h>
23#include <Quaternion.h>
24
25namespace flair {
[15]26namespace core {
[214]27class Matrix;
[15]28class io_data;
29class AhrsData;
[7]30}
[15]31namespace gui {
32class LayoutPosition;
33class GroupBox;
34class DoubleSpinBox;
35class SpinBox;
36class Label;
37class PushButton;
38}
39namespace filter {
40class JoyReference;
41}
42}
[7]43
44class JoyReference_impl {
45
[15]46public:
47 JoyReference_impl(flair::filter::JoyReference *self,
48 const flair::gui::LayoutPosition *position,
49 std::string name);
50 ~JoyReference_impl();
51 void SetRollAxis(float value);
52 void SetPitchAxis(float value);
53 void SetYawAxis(float value);
54 void SetAltitudeAxis(float value);
55 float ZRef(void) const;
56 float dZRef(void) const;
57 float RollTrim(void) const;
58 float PitchTrim(void) const;
59 void SetYawRef(float value);
60 void SetZRef(float value);
61 void RollTrimUp(void);
62 void RollTrimDown(void);
63 void PitchTrimUp(void);
64 void PitchTrimDown(void);
65 void Update(flair::core::Time time);
66 void UpdateFrom(const flair::core::io_data *data);
[214]67 flair::core::Matrix *output;
[15]68 flair::core::AhrsData *ahrsData;
[7]69
[15]70private:
[214]71 flair::core::Matrix *input;
[7]72
[15]73 flair::gui::GroupBox *reglages_groupbox;
74 flair::gui::DoubleSpinBox *deb_roll, *deb_pitch, *deb_wz, *deb_dz;
75 flair::gui::DoubleSpinBox *trim;
76 flair::gui::Label *label_roll, *label_pitch;
77 flair::gui::PushButton *button_roll, *button_pitch;
[7]78
[15]79 float z_ref;
80 flair::core::Quaternion q_z = flair::core::Quaternion(1, 0, 0, 0);
81 float trim_roll, trim_pitch;
[7]82
[15]83 flair::filter::JoyReference *self;
[7]84};
85
86#endif // JOYREFERENCE_IMPL_H
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