source: flair-src/trunk/lib/FlairSensorActuator/src/UgvControls.cpp @ 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: 1.1 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//  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>
20
21using namespace flair::core;
22
23using std::string;
24
25namespace flair {
26namespace actuator {
27
28UgvControls::UgvControls(const IODevice *parent, string name)
29    : IODevice(parent, name) {
30 
31  MatrixDescriptor *desc = new MatrixDescriptor(2, 1);
32  desc->SetElementName(0, 0, "speed");
33  desc->SetElementName(1, 0, "turn");
34
35  output = new Matrix(this, desc, floatType);
36  delete desc;
37  AddDataToLog(output);
38}
39
40UgvControls::~UgvControls() {
41}
42
43void UgvControls::UseDefaultPlot(void) {
44 
45}
46
47Matrix *UgvControls::Output(void) const {
48 return output;
49}
50
51
52} // end namespace actuator
53} // end namespace flair
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