source: flair-src/trunk/lib/FlairSensorActuator/src/UgvControls.h

Last change on this file was 435, checked in by Sanahuja Guillaume, 3 months ago

add logs to ugv

  • Property svn:eol-style set to native
File size: 1.6 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 UgvControls.h
7 * \brief Base class for 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 UGVCONTROLS_H
14#define UGVCONTROLS_H
15
16#include <IODevice.h>
17
18namespace flair {
19namespace core {
20  class Matrix;
21}
22namespace gui {
23  class Tab;
24}
25}
26
27
28namespace flair {
29namespace actuator {
30/*! \class UgvControls
31*
32* \brief Base class for ugv controls
33*/
34class UgvControls : public core::IODevice {
35 
36public:
37  /*!
38  * \brief Constructor
39  *
40  * Construct a UgvControls. It will be child of the FrameworkManager.
41  *
42  * \param name name
43  */
44  UgvControls(std::string name);
45
46  /*!
47  * \brief Destructor
48  *
49  */
50  ~UgvControls();
51
52  /*!
53  * \brief Use default plot
54  *
55  */
56  void UseDefaultPlot(void);
57
58  /*!
59  * \brief Output from motors
60  *
61  * First column is real speed if available, secund column is current if
62  *available
63  *
64  */
65  core::Matrix *Output(void) const;
66 
67  /*!
68  * \brief Set controls values
69  *
70  * \param speed speed value
71  * \param turn turn value
72  */
73  virtual void SetControls(float speed,float turn)=0;
74 
75protected:
76  core::Matrix *output;
77
78private:
79  /*!
80  * \brief Update using provided datas
81  *
82  * Reimplemented from IODevice.
83  *
84  * \param data data from the parent to process
85  */
86  void UpdateFrom(const core::io_data *data){};
87
88  gui::Tab *mainTab;
89};
90} // end namespace actuator
91} // end namespace flair
92#endif // UGVCONTROLS_H
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