source: flair-src/trunk/lib/FlairSimulator/src/TwoWheelRobot.h

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

ugv update

File size: 1.4 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:    2020/11/20
6//  filename:   TwoWheelRobot.h
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe definissant un TwoWheelRobot
14//
15/*********************************************************************/
16
17#ifndef TWOWHEELROBOT_H
18#define TWOWHEELROBOT_H
19
20#include <Model.h>
21
22namespace flair {
23namespace core {
24class Mutex;
25}
26namespace gui {
27class DoubleSpinBox;
28class SpinBox;
29}
30namespace actuator {
31class SimuUgvControls;
32}
33}
34
35#ifdef GL
36namespace irr {
37namespace scene {
38class IMesh;
39}
40}
41#endif
42
43namespace flair {
44namespace simulator {
45class Blade;
46
47class TwoWheelRobot : public Model {
48public:
49  TwoWheelRobot(std::string name, uint32_t modelId);
50  ~TwoWheelRobot();
51#ifdef GL
52  virtual void Draw(void);
53  virtual void ExtraDraw(void){}; 
54#endif
55
56private:
57  void CalcModel(void);
58#ifdef GL
59  void AnimateModel(void);
60  size_t dbtSize(void) const;
61  void WritedbtBuf(char *dbtbuf);
62  void ReaddbtBuf(char *dbtbuf);
63  irr::scene::IMesh *colored_body;
64#endif
65  gui::SpinBox *bodyColorR,*bodyColorG,*bodyColorB;
66  gui::DoubleSpinBox *size,*m,*t_speed,*r_speed;
67  actuator::SimuUgvControls *controls;
68
69 
70};
71} // end namespace simulator
72} // end namespace flair
73#endif // TWOWHEELROBOT_H
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