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Last change
on this file since 377 was 377, checked in by Sanahuja Guillaume, 3 years ago |
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ugv update
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-
Property svn:eol-style
set to
native
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File size:
1.4 KB
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| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimulatedUgvControls.h
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| 7 | * \brief Class for a simulation ugv controls
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2020/12/09
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMULATEDUGVCONTROLS_H
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| 14 | #define SIMULATEDUGVCONTROLS_H
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| 15 |
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| 16 | #include <UgvControls.h>
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| 17 | #include <Thread.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class SharedMem;
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| 22 | }
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| 23 | }
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| 24 |
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| 25 | namespace flair {
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| 26 | namespace actuator {
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| 27 | /*! \class SimulatedUgvControls
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| 28 | *
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| 29 | * \brief Class for a simulation ugv controls
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| 30 | */
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| 31 | class SimulatedUgvControls : public UgvControls {
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| 32 | public:
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| 33 | /*!
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| 34 | * \brief Constructor
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| 35 | *
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| 36 | * Construct a SimulatedUgvControls.
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| 37 | *
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| 38 | * \param name name
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| 39 | * \param modelId Model id
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| 40 | * \param deviceId Imu id of the Model
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| 41 | */
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| 42 | SimulatedUgvControls(std::string name,
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| 43 | uint32_t modelId,uint32_t deviceId);
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| 44 |
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| 45 | /*!
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| 46 | * \brief Destructor
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| 47 | *
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| 48 | */
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| 49 | ~SimulatedUgvControls();
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| 50 |
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| 51 | /*!
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| 52 | * \brief Set controls values
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| 53 | *
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| 54 | * Reimplemented from UgvControls. \n
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| 55 | *
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| 56 | * \param speed speed value
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| 57 | * \param turn turn value
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| 58 | */
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| 59 | void SetControls(float speed,float turn);
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| 60 | private:
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| 61 |
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| 62 |
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| 63 | char *buf;
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| 64 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| 65 | core::SharedMem *shmem;
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| 66 | };
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| 67 | } // end namespace actuator
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| 68 | } // end namespace flair
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| 69 | #endif // SIMULATEDUGVCONTROLS_H
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