source: flair-src/trunk/lib/FlairMeta/src/MetaDualShock3.h@ 7

/*!

 * \file MetaDualShock3.h

 * \brief Classe intégrant la manette DualShock3 et les consignes joystick

 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253

 * \date 2014/01/14

 * \version 3.4

 */



#ifndef METADUALSHOCK3_H

#define METADUALSHOCK3_H



#include <TargetEthController.h>



namespace flair {

    namespace core {

        class AhrsData;

        class Quaternion;

    }

    namespace filter {

        class Ahrs;

    }

}



class MetaDualShock3_impl;



namespace flair {

namespace meta {



    /*! \class MetaDualShock3

    *

    * \brief Classe intégrant la manette MetaDualShock3

    */

    class MetaDualShock3 : public sensor::TargetEthController {

        friend class ::MetaDualShock3_impl;



        public:

            MetaDualShock3(core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority);

            ~MetaDualShock3();

            core::AhrsData* GetReferenceOrientation(void) const;

            float ZRef(void) const;

            float DzRef(void) const;

            void SetYawRef(float value);

            /*!

            * \brief Set yaw reference

            *

            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n

            * This method reset the yaw.

            *

            * \param value value, only the yaw part of the quaternion is used

            */

            void SetYawRef(core::Quaternion const &value);

            void SetZRef(float value);

            float RollTrim(void) const;

            float PitchTrim(void) const;

            void ErrorNotify(void);

            void Rumble(uint8_t left_force,uint8_t left_timeout=20,uint8_t right_force=0,uint8_t right_timeout=0);

            void SetLedON(unsigned int ledId);

            void SetLedOFF(unsigned int ledId);

            void FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout);



        private:

            class MetaDualShock3_impl* pimpl_;



    };

} // end namespace meta

} // end namespace flair

#endif // METADUALSHOCK3_H