source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h@ 378

Last change on this file since 378 was 378, checked in by Sanahuja Guillaume, 2 years 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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