Last change
on this file since 407 was 378, checked in by Sanahuja Guillaume, 4 years ago |
up ugv
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Property svn:eol-style
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File size:
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[376] | 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 |
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| 18 | namespace flair {
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| 19 | namespace core {
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| 20 | class SharedMem;
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| 21 | }
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| 22 | }
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| 23 |
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| 24 | namespace flair {
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| 25 | namespace actuator {
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| 26 | /*! \class SimulatedUgvControls
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| 27 | *
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| 28 | * \brief Class for a simulation ugv controls
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| 29 | */
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| 30 | class SimulatedUgvControls : public UgvControls {
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| 31 | public:
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| 32 | /*!
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| 33 | * \brief Constructor
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| 34 | *
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| 35 | * Construct a SimulatedUgvControls.
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| 36 | *
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| 37 | * \param name name
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| 38 | * \param modelId Model id
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| 39 | * \param deviceId Imu id of the Model
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| 40 | */
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[377] | 41 | SimulatedUgvControls(std::string name,
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[376] | 42 | uint32_t modelId,uint32_t deviceId);
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| 43 |
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| 44 | /*!
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| 45 | * \brief Destructor
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| 46 | *
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| 47 | */
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| 48 | ~SimulatedUgvControls();
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| 49 |
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| 50 | /*!
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| 51 | * \brief Set controls values
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| 52 | *
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| 53 | * Reimplemented from UgvControls. \n
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| 54 | *
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| 55 | * \param speed speed value
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| 56 | * \param turn turn value
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| 57 | */
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| 58 | void SetControls(float speed,float turn);
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[377] | 59 | private:
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| 60 |
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[376] | 61 |
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| 62 | char *buf;
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| 63 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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| 64 | core::SharedMem *shmem;
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| 65 | };
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| 66 | } // end namespace actuator
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| 67 | } // end namespace flair
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| 68 | #endif // SIMULATEDUGVCONTROLS_H
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