source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h@ 377

Last change on this file since 377 was 377, checked in by Sanahuja Guillaume, 2 years ago

ugv update

  • 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 name name
39 * \param modelId Model id
40 * \param deviceId Imu id of the Model
41 */
42 SimulatedUgvControls(std::string name,
43 uint32_t modelId,uint32_t deviceId);
44
45 /*!
46 * \brief Destructor
47 *
48 */
49 ~SimulatedUgvControls();
50
51 /*!
52 * \brief Set controls values
53 *
54 * Reimplemented from UgvControls. \n
55 *
56 * \param speed speed value
57 * \param turn turn value
58 */
59 void SetControls(float speed,float turn);
60private:
61
62
63 char *buf;
64 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
65 core::SharedMem *shmem;
66};
67} // end namespace actuator
68} // end namespace flair
69#endif // SIMULATEDUGVCONTROLS_H
Note: See TracBrowser for help on using the repository browser.