source: flair-src/trunk/lib/FlairFilter/src/unexported/JoyReference_impl.h @ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 2.3 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.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 {
26    namespace core {
27        class cvmatrix;
28        class io_data;
29        class AhrsData;
30    }
31    namespace gui {
32        class LayoutPosition;
33        class GroupBox;
34        class DoubleSpinBox;
35        class SpinBox;
36        class Label;
37        class PushButton;
38    }
39    namespace filter {
40        class JoyReference;
41    }
42}
43
44class JoyReference_impl {
45
46    public:
47        JoyReference_impl(flair::filter::JoyReference *self,const flair::gui::LayoutPosition* position,std::string name);
48        ~JoyReference_impl();
49        void SetRollAxis(float value);
50        void SetPitchAxis(float value);
51        void SetYawAxis(float value);
52        void SetAltitudeAxis(float value);
53        float ZRef(void) const;
54        float dZRef(void) const;
55        float RollTrim(void) const;
56        float PitchTrim(void) const;
57        void SetYawRef(float value);
58        void SetZRef(float value);
59        void RollTrimUp(void);
60        void RollTrimDown(void);
61        void PitchTrimUp(void);
62        void PitchTrimDown(void);
63        void Update(flair::core::Time time);
64        void UpdateFrom(const flair::core::io_data *data);
65        flair::core::cvmatrix *output;
66        flair::core::AhrsData *ahrsData;
67
68    private:
69        flair::core::cvmatrix *input;
70
71        flair::gui::GroupBox *reglages_groupbox;
72        flair::gui::DoubleSpinBox *deb_roll,*deb_pitch,*deb_wz,*deb_dz;
73        flair::gui::DoubleSpinBox *trim;
74        flair::gui::Label *label_roll,*label_pitch;
75        flair::gui::PushButton *button_roll,*button_pitch;
76
77        float z_ref;
78        flair::core::Quaternion q_z=flair::core::Quaternion(1,0,0,0);
79        float trim_roll,trim_pitch;
80        flair::core::Time previous_time;
81
82        flair::filter::JoyReference *self;
83};
84
85#endif // JOYREFERENCE_IMPL_H
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