source: flair-src/trunk/lib/FlairSensorActuator/src/UgvControls.h @ 376

Last change on this file since 376 was 376, checked in by Sanahuja Guillaume, 10 months ago

up ugv

  • Property svn:eol-style set to native
File size: 1.5 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 {
20class Matrix;
21}
22}
23
24
25namespace flair {
26namespace actuator {
27/*! \class UgvControls
28*
29* \brief Base class for ugv controls
30*/
31class UgvControls : public core::IODevice {
32 
33public:
34  /*!
35  * \brief Constructor
36  *
37  * Construct a UgvControls.
38  *
39  * \param parent parent
40  * \param name name
41  */
42  UgvControls(const core::IODevice *parent, std::string name);
43
44  /*!
45  * \brief Destructor
46  *
47  */
48  ~UgvControls();
49
50  /*!
51  * \brief Use default plot
52  *
53  */
54  void UseDefaultPlot(void);
55
56  /*!
57  * \brief Output from motors
58  *
59  * First column is real speed if available, secund column is current if
60  *available
61  *
62  */
63  core::Matrix *Output(void) const;
64 
65protected:
66  core::Matrix *output;
67
68private:
69  /*!
70  * \brief Update using provided datas
71  *
72  * Reimplemented from IODevice.
73  *
74  * \param data data from the parent to process
75  */
76  void UpdateFrom(const core::io_data *data){};
77
78  /*!
79  * \brief Set controls values
80  *
81  * \param speed speed value
82  * \param turn turn value
83  */
84  virtual void SetControls(float speed,float turn)=0;
85 
86
87};
88} // end namespace actuator
89} // end namespace flair
90#endif // UGVCONTROLS_H
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