source: flair-src/trunk/lib/FlairSensorActuator/src/UgvControls.cpp @ 377

Last change on this file since 377 was 377, checked in by Sanahuja Guillaume, 10 months ago

ugv update

  • Property svn:eol-style set to native
File size: 1.5 KB
RevLine 
[376]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//  created:    2020/12/09
6//  filename:   UgvControls.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Virtual class for igv controls
14//
15//
16/*********************************************************************/
17
18#include "UgvControls.h"
19#include <Matrix.h>
[377]20#include <FrameworkManager.h>
21#include <Tab.h>
22#include <DataPlot1D.h>
[376]23
24using namespace flair::core;
[377]25using namespace flair::gui;
[376]26
27using std::string;
28
29namespace flair {
30namespace actuator {
31
[377]32UgvControls::UgvControls(string name)
33    : IODevice(getFrameworkManager(), name) {
34  mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
[376]35 
36  MatrixDescriptor *desc = new MatrixDescriptor(2, 1);
37  desc->SetElementName(0, 0, "speed");
38  desc->SetElementName(1, 0, "turn");
39
40  output = new Matrix(this, desc, floatType);
41  delete desc;
42  AddDataToLog(output);
43}
44
45UgvControls::~UgvControls() {
46}
47
48void UgvControls::UseDefaultPlot(void) {
[377]49  DataPlot1D *speedPlot = new DataPlot1D(mainTab->NewRow(), "speed", -1, 1);
50  speedPlot->AddCurve(output->Element(0));
51  DataPlot1D *turnPlot = new DataPlot1D(mainTab->LastRowLastCol(), "turn", -1, 1);
52  turnPlot->AddCurve(output->Element(1));
[376]53}
54
55Matrix *UgvControls::Output(void) const {
56 return output;
57}
58
59
60} // end namespace actuator
61} // end namespace flair
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