source: flair-src/trunk/lib/FlairMeta/src/MetaVrpnObject.cpp

Last change on this file was 432, checked in by Sanahuja Guillaume, 4 months ago

add AltitudeSensor? class
failsafe altitude sensor in changeable

File size: 4.1 KB
Line 
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:    2013/04/08
6//  filename:   MetaVrpnObject.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant objet vrpn et une dérivée
14//              d'euler
15//
16//
17/*********************************************************************/
18
19#include "MetaVrpnObject.h"
20#include <EulerDerivative.h>
21#include <LowPassFilter.h>
22#include <IODevice.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <DataPlot2D.h>
26#include <Tab.h>
27#include <TabWidget.h>
28#include <Matrix.h>
29#include <AltitudeSensor.h>
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::sensor;
35using namespace flair::filter;
36
37namespace flair {
38namespace sensor {
39class MetaVrpnObjectAltitudeSensor : public AltitudeSensor {
40  public:
41    MetaVrpnObjectAltitudeSensor(meta::MetaVrpnObject* parent,std::string name): AltitudeSensor(parent,name) {
42      this->parent=parent;
43    }
44    ~MetaVrpnObjectAltitudeSensor() {
45    }
46
47    //z and dz must be in uav's frame
48    float z(void) const {
49      Vector3Df uav_pos;
50      parent->GetPosition(uav_pos);
51      return -uav_pos.z;
52    }
53    float Vz(void) const {
54      Vector3Df uav_vel;
55      parent->GetSpeed(uav_vel);
56      return -uav_vel.z;
57    }
58
59  private:
60     meta::MetaVrpnObject* parent;
61     
62};
63}// end namespace sensor
64}// end namespace flair
65
66namespace flair {
67namespace meta {
68
69MetaVrpnObject::MetaVrpnObject(string name,VrpnClient *client)
70    : VrpnObject( name, client->GetTabWidget(),client) {
71  ConstructorCommon(name,client);
72}
73
74MetaVrpnObject::MetaVrpnObject(string name,uint8_t id,VrpnClient *client)
75    : VrpnObject(name, id, client->GetTabWidget(),client) {
76  ConstructorCommon( name,client);
77}
78
79void MetaVrpnObject::ConstructorCommon(string name,VrpnClient *client) {
80  MatrixDescriptor *desc = new MatrixDescriptor(7, 1);
81  for (int i = 0; i < desc->Rows(); i++) {
82    desc->SetElementName(i, 0, Output()->Name(i, 0));
83  }
84  Matrix *prev_value = new Matrix(this, desc, floatType, name);
85  delete desc;
86
87  pbas = new LowPassFilter(this, client->GetLayout()->NewRow(),
88                           name + " Passe bas", prev_value);
89  delete prev_value;
90
91  desc = new MatrixDescriptor(7, 1);
92  for (int i = 0; i < desc->Rows(); i++) {
93    desc->SetElementName(i, 0, "d" + Output()->Name(i, 0));
94  }
95  prev_value = new Matrix(this, desc, floatType, name);
96  delete desc;
97
98  euler = new EulerDerivative(pbas, client->GetLayout()->NewRow(),
99                              name + "_euler", prev_value);
100  delete prev_value;
101
102  vx_opti_plot = new DataPlot1D(GetPlotTab()->NewRow(), "vx", -3, 3);
103  vx_opti_plot->AddCurve(euler->GetMatrix()->Element(4));
104  vy_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vy", -3, 3);
105  vy_opti_plot->AddCurve(euler->GetMatrix()->Element(5));
106  vz_opti_plot = new DataPlot1D(GetPlotTab()->LastRowLastCol(), "vz", -2, 2);
107  vz_opti_plot->AddCurve(euler->GetMatrix()->Element(6));
108
109  plot_tab = new Tab(client->GetTabWidget(), "Mesures (xy) " + name);
110  xy_plot = new DataPlot2D(plot_tab->NewRow(), "xy", "y", -5, 5, "x", -5, 5);
111  xy_plot->AddCurve(Output()->Element(5, 0), Output()->Element(4, 0));
112 
113  altitudeSensor=new MetaVrpnObjectAltitudeSensor(this,name);
114}
115
116sensor::AltitudeSensor *MetaVrpnObject::GetAltitudeSensor(void) const {
117  return altitudeSensor;
118}
119
120MetaVrpnObject::~MetaVrpnObject() { delete plot_tab; }
121
122DataPlot1D *MetaVrpnObject::VxPlot(void) const { return vx_opti_plot; }
123
124DataPlot1D *MetaVrpnObject::VyPlot(void) const { return vy_opti_plot; }
125
126DataPlot1D *MetaVrpnObject::VzPlot(void) const { return vz_opti_plot; }
127
128DataPlot2D *MetaVrpnObject::XyPlot(void) const { return xy_plot; }
129
130void MetaVrpnObject::GetSpeed(Vector3Df &speed) const {
131  speed.x = euler->Output(4, 0);
132  speed.y = euler->Output(5, 0);
133  speed.z = euler->Output(6, 0);
134}
135
136EulerDerivative* MetaVrpnObject::GetEulerDerivative(void) const {
137        return euler;
138}
139
140} // end namespace meta
141} // end namespace flair
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