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

//  created:    2012/08/29

//  filename:   JoyReference_impl.h

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    generation de consignes a partir joystick

//

//

/*********************************************************************/



#ifndef JOYREFERENCE_IMPL_H

#define JOYREFERENCE_IMPL_H



#include <stdint.h>

#include <Object.h>

#include <Quaternion.h>



namespace flair {

    namespace core {

        class cvmatrix;

        class io_data;

        class AhrsData;

    }

    namespace gui {

        class LayoutPosition;

        class GroupBox;

        class DoubleSpinBox;

        class SpinBox;

        class Label;

        class PushButton;

    }

    namespace filter {

        class JoyReference;

    }

}



class JoyReference_impl {



    public:

        JoyReference_impl(flair::filter::JoyReference *self,const flair::gui::LayoutPosition* position,std::string name);

        ~JoyReference_impl();

        void SetRollAxis(float value);

        void SetPitchAxis(float value);

        void SetYawAxis(float value);

        void SetAltitudeAxis(float value);

        float ZRef(void) const;

        float dZRef(void) const;

        float RollTrim(void) const;

        float PitchTrim(void) const;

        void SetYawRef(float value);

        void SetZRef(float value);

        void RollTrimUp(void);

        void RollTrimDown(void);

        void PitchTrimUp(void);

        void PitchTrimDown(void);

        void Update(flair::core::Time time);

        void UpdateFrom(const flair::core::io_data *data);

        flair::core::cvmatrix *output;

        flair::core::AhrsData *ahrsData;



    private:

        flair::core::cvmatrix *input;



        flair::gui::GroupBox *reglages_groupbox;

        flair::gui::DoubleSpinBox *deb_roll,*deb_pitch,*deb_wz,*deb_dz;

        flair::gui::DoubleSpinBox *trim;

        flair::gui::Label *label_roll,*label_pitch;

        flair::gui::PushButton *button_roll,*button_pitch;



        float z_ref;

        flair::core::Quaternion q_z=flair::core::Quaternion(1,0,0,0);

        float trim_roll,trim_pitch;

        flair::core::Time previous_time;



        flair::filter::JoyReference *self;

};



#endif // JOYREFERENCE_IMPL_H