Last change
on this file since 376 was 376, checked in by Sanahuja Guillaume, 3 years ago |
up ugv
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[376] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file UgvControls.h
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| 7 | * \brief Base class for ugv controls
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2020/12/09
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef UGVCONTROLS_H
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| 14 | #define UGVCONTROLS_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 |
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| 18 | namespace flair {
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| 19 | namespace core {
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| 20 | class Matrix;
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| 21 | }
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| 22 | }
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| 23 |
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| 24 |
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| 25 | namespace flair {
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| 26 | namespace actuator {
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| 27 | /*! \class UgvControls
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| 28 | *
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| 29 | * \brief Base class for ugv controls
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| 30 | */
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| 31 | class UgvControls : public core::IODevice {
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| 32 |
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| 33 | public:
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| 34 | /*!
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| 35 | * \brief Constructor
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| 36 | *
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| 37 | * Construct a UgvControls.
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| 38 | *
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| 39 | * \param parent parent
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| 40 | * \param name name
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| 41 | */
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| 42 | UgvControls(const core::IODevice *parent, std::string name);
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| 43 |
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| 44 | /*!
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| 45 | * \brief Destructor
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| 46 | *
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| 47 | */
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| 48 | ~UgvControls();
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| 49 |
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| 50 | /*!
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| 51 | * \brief Use default plot
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| 52 | *
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| 53 | */
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| 54 | void UseDefaultPlot(void);
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| 55 |
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| 56 | /*!
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| 57 | * \brief Output from motors
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| 58 | *
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| 59 | * First column is real speed if available, secund column is current if
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| 60 | *available
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| 61 | *
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| 62 | */
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| 63 | core::Matrix *Output(void) const;
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| 64 |
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| 65 | protected:
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| 66 | core::Matrix *output;
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| 67 |
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| 68 | private:
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| 69 | /*!
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| 70 | * \brief Update using provided datas
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| 71 | *
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| 72 | * Reimplemented from IODevice.
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| 73 | *
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| 74 | * \param data data from the parent to process
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| 75 | */
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| 76 | void UpdateFrom(const core::io_data *data){};
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| 77 |
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| 78 | /*!
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| 79 | * \brief Set controls values
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| 80 | *
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| 81 | * \param speed speed value
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| 82 | * \param turn turn value
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| 83 | */
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| 84 | virtual void SetControls(float speed,float turn)=0;
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| 85 |
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| 86 |
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| 87 | };
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| 88 | } // end namespace actuator
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| 89 | } // end namespace flair
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| 90 | #endif // UGVCONTROLS_H
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