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

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 years ago

filter and meta

File size: 2.2 KB
Line 
1// created: 2012/08/29
2// filename: JoyReference_impl.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: generation de consignes a partir joystick
10//
11//
12/*********************************************************************/
13
14#ifndef JOYREFERENCE_IMPL_H
15#define JOYREFERENCE_IMPL_H
16
17#include <stdint.h>
18#include <Object.h>
19#include <Quaternion.h>
20
21namespace flair {
22 namespace core {
23 class cvmatrix;
24 class io_data;
25 class AhrsData;
26 }
27 namespace gui {
28 class LayoutPosition;
29 class GroupBox;
30 class DoubleSpinBox;
31 class SpinBox;
32 class Label;
33 class PushButton;
34 }
35 namespace filter {
36 class JoyReference;
37 }
38}
39
40class JoyReference_impl {
41
42 public:
43 JoyReference_impl(flair::filter::JoyReference *self,const flair::gui::LayoutPosition* position,std::string name);
44 ~JoyReference_impl();
45 void SetRollAxis(float value);
46 void SetPitchAxis(float value);
47 void SetYawAxis(float value);
48 void SetAltitudeAxis(float value);
49 float ZRef(void) const;
50 float dZRef(void) const;
51 float RollTrim(void) const;
52 float PitchTrim(void) const;
53 void SetYawRef(float value);
54 void SetZRef(float value);
55 void RollTrimUp(void);
56 void RollTrimDown(void);
57 void PitchTrimUp(void);
58 void PitchTrimDown(void);
59 void Update(flair::core::Time time);
60 void UpdateFrom(const flair::core::io_data *data);
61 flair::core::cvmatrix *output;
62 flair::core::AhrsData *ahrsData;
63
64 private:
65 flair::core::cvmatrix *input;
66
67 flair::gui::GroupBox *reglages_groupbox;
68 flair::gui::DoubleSpinBox *deb_roll,*deb_pitch,*deb_wz,*deb_dz;
69 flair::gui::DoubleSpinBox *trim;
70 flair::gui::Label *label_roll,*label_pitch;
71 flair::gui::PushButton *button_roll,*button_pitch;
72
73 float z_ref;
74 flair::core::Quaternion q_z=flair::core::Quaternion(1,0,0,0);
75 float trim_roll,trim_pitch;
76 flair::core::Time previous_time;
77
78 flair::filter::JoyReference *self;
79};
80
81#endif // JOYREFERENCE_IMPL_H
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