source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h

Last change on this file was 378, checked in by Sanahuja Guillaume, 11 months ago

up ugv

  • Property svn:eol-style set to native
File size: 1.3 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/*!
6 * \file SimulatedUgvControls.h
7 * \brief Class for a simulation ugv controls
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2020/12/09
10 * \version 4.0
11 */
12
13#ifndef SIMULATEDUGVCONTROLS_H
14#define SIMULATEDUGVCONTROLS_H
15
16#include <UgvControls.h>
17
18namespace flair {
19  namespace core {
20    class SharedMem;
21  }
22}
23
24namespace flair {
25namespace actuator {
26/*! \class SimulatedUgvControls
27*
28* \brief Class for a simulation ugv controls
29*/
30class SimulatedUgvControls : public UgvControls {
31public:
32  /*!
33  * \brief Constructor
34  *
35  * Construct a SimulatedUgvControls.
36  *
37  * \param name name
38  * \param modelId Model id
39  * \param deviceId Imu id of the Model
40  */
41  SimulatedUgvControls(std::string name,
42          uint32_t modelId,uint32_t deviceId);
43
44  /*!
45  * \brief Destructor
46  *
47  */
48  ~SimulatedUgvControls();
49
50  /*!
51  * \brief Set controls values
52  *
53  * Reimplemented from UgvControls. \n
54  *
55  * \param speed speed value
56  * \param turn turn value
57  */
58  void SetControls(float speed,float turn);
59private:
60 
61 
62  char *buf;
63  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
64  core::SharedMem *shmem;
65};
66} // end namespace actuator
67} // end namespace flair
68#endif // SIMULATEDUGVCONTROLS_H
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