1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2012/08/29
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6 | // filename: JoyReference_impl.h
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: generation de consignes a partir joystick
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #ifndef JOYREFERENCE_IMPL_H
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19 | #define JOYREFERENCE_IMPL_H
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20 |
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21 | #include <stdint.h>
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22 | #include <Object.h>
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23 | #include <Quaternion.h>
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24 |
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25 | namespace flair {
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26 | namespace core {
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27 | class cvmatrix;
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28 | class io_data;
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29 | class AhrsData;
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30 | }
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31 | namespace gui {
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32 | class LayoutPosition;
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33 | class GroupBox;
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34 | class DoubleSpinBox;
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35 | class SpinBox;
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36 | class Label;
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37 | class PushButton;
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38 | }
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39 | namespace filter {
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40 | class JoyReference;
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41 | }
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42 | }
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43 |
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44 | class JoyReference_impl {
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45 |
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46 | public:
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47 | JoyReference_impl(flair::filter::JoyReference *self,
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48 | const flair::gui::LayoutPosition *position,
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49 | std::string name);
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50 | ~JoyReference_impl();
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51 | void SetRollAxis(float value);
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52 | void SetPitchAxis(float value);
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53 | void SetYawAxis(float value);
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54 | void SetAltitudeAxis(float value);
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55 | float ZRef(void) const;
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56 | float dZRef(void) const;
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57 | float RollTrim(void) const;
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58 | float PitchTrim(void) const;
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59 | void SetYawRef(float value);
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60 | void SetZRef(float value);
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61 | void RollTrimUp(void);
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62 | void RollTrimDown(void);
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63 | void PitchTrimUp(void);
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64 | void PitchTrimDown(void);
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65 | void Update(flair::core::Time time);
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66 | void UpdateFrom(const flair::core::io_data *data);
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67 | flair::core::cvmatrix *output;
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68 | flair::core::AhrsData *ahrsData;
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69 |
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70 | private:
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71 | flair::core::cvmatrix *input;
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72 |
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73 | flair::gui::GroupBox *reglages_groupbox;
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74 | flair::gui::DoubleSpinBox *deb_roll, *deb_pitch, *deb_wz, *deb_dz;
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75 | flair::gui::DoubleSpinBox *trim;
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76 | flair::gui::Label *label_roll, *label_pitch;
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77 | flair::gui::PushButton *button_roll, *button_pitch;
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78 |
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79 | float z_ref;
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80 | flair::core::Quaternion q_z = flair::core::Quaternion(1, 0, 0, 0);
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81 | float trim_roll, trim_pitch;
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82 | flair::core::Time previous_time;
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83 |
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84 | flair::filter::JoyReference *self;
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85 | };
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86 |
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87 | #endif // JOYREFERENCE_IMPL_H
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