source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedBldc.h@ 286

Last change on this file since 286 was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 1.9 KB
RevLine 
[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5/*!
[286]6 * \file SimulatedBldc.h
[3]7 * \brief Class for a simulation bldc
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
[286]13#ifndef SIMULATEDBLDC_H
14#define SIMULATEDBLDC_H
[3]15
16#include <Bldc.h>
17
[15]18namespace flair {
19namespace core {
20class SharedMem;
21class IODevice;
[214]22class Matrix;
[3]23}
[15]24namespace gui {
25class DoubleSpinBox;
26class Layout;
27}
28}
[3]29
[15]30namespace flair {
31namespace actuator {
[286]32/*! \class SimulatedBldc
[15]33*
34* \brief Class for a simulation bldc
35*
36*/
[286]37class SimulatedBldc : public Bldc {
[15]38public:
39 /*!
40 * \brief Constructor
41 *
[286]42 * Construct a SimulatedBldc
[15]43 *
44 * \param parent parent
45 * \param layout layout
46 * \param name name
47 * \param motors_count number of motors
[158]48 * \param modelId Model id
49 * \param deviceId Bldc id of the Model
[15]50 */
[286]51 SimulatedBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
[158]52 uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
[3]53
[15]54 /*!
55 * \brief Destructor
56 *
57 */
[286]58 ~SimulatedBldc();
[3]59
[15]60 /*!
61 * \brief Has speed measurement
62 *
63 * Reimplemented from Bldc. \n
64 *
65 * \return true if it has speed measurement
66 */
67 bool HasSpeedMeasurement(void) const { return false; };
[3]68
[15]69 /*!
70 * \brief Has current measurement
71 *
72 * Reimplemented from Bldc. \n
73 *
74 * \return true if it has current measurement
75 */
76 bool HasCurrentMeasurement(void) const { return false; };
[3]77
[15]78private:
79 /*!
80 * \brief Set motors values
81 *
82 * Reimplemented from Bldc. \n
83 * Values size must be the same as MotorsCount()
84 *
85 * \param values motor values
86 */
87 void SetMotors(float *value);
[158]88
89 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
[15]90 core::SharedMem *shmem;
91 gui::DoubleSpinBox *k;
[214]92 char *buf;
93
[15]94};
[3]95} // end namespace actuator
96} // end namespace flair
[286]97#endif // SIMULATEDBLDC_H
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