source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h @ 376

Last change on this file since 376 was 376, checked in by Sanahuja Guillaume, 9 months ago

up ugv

  • Property svn:eol-style set to native
File size: 1.4 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#include <Thread.h>
18
19namespace flair {
20  namespace core {
21    class SharedMem;
22  }
23}
24
25namespace flair {
26namespace actuator {
27/*! \class SimulatedUgvControls
28*
29* \brief Class for a simulation ugv controls
30*/
31class SimulatedUgvControls : public UgvControls {
32public:
33  /*!
34  * \brief Constructor
35  *
36  * Construct a SimulatedUgvControls.
37  *
38  * \param parent parent
39  * \param name name
40  * \param modelId Model id
41  * \param deviceId Imu id of the Model
42  */
43  SimulatedUgvControls(const core::IODevice *parent,std::string name,
44          uint32_t modelId,uint32_t deviceId);
45
46  /*!
47  * \brief Destructor
48  *
49  */
50  ~SimulatedUgvControls();
51
52private:
53 
54  /*!
55  * \brief Set controls values
56  *
57  * Reimplemented from UgvControls. \n
58  *
59  * \param speed speed value
60  * \param turn turn value
61  */
62  void SetControls(float speed,float turn);
63 
64  char *buf;
65  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
66  core::SharedMem *shmem;
67};
68} // end namespace actuator
69} // end namespace flair
70#endif // SIMULATEDUGVCONTROLS_H
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