source: flair-src/trunk/lib/FlairSimulator/src/X4.h@ 157

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2012/08/21

//  filename:   X4.h

//

//  author:     Osamah Saif, Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    classe definissant un x4

//

/*********************************************************************/



#ifndef X4_H

#define X4_H



#include <Model.h>



namespace flair {

namespace core {

class Mutex;

}

namespace gui {

class DoubleSpinBox;

}

namespace actuator {

class SimuBldc;

}

}



#ifdef GL

namespace irr {

namespace scene {

class IMesh;

}

}

#endif



namespace flair {

namespace simulator {

class Simulator;

class Blade;

class MeshSceneNode;



class X4 : public Model {

public:

  X4(const Simulator *parent, std::string name, int dev_id);

  ~X4();

#ifdef GL

  virtual void Draw(void);

  virtual void ExtraDraw(void){};



protected:

  irr::scene::IMesh *red_arm, *black_arm, *motor;

  MeshSceneNode *fl_arm, *fr_arm, *rl_arm, *rr_arm;

  MeshSceneNode *fl_motor, *fr_motor, *rl_motor, *rr_motor;

  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;

  core::Mutex *motor_speed_mutex;

#endif

private:

  void CalcModel(void);

#ifdef GL

  void AnimateModel(void);

  size_t dbtSize(void) const;

  void WritedbtBuf(char *dbtbuf);

  void ReaddbtBuf(char *dbtbuf);

#endif



  actuator::SimuBldc *motors;

  float motor_speed[4];

  gui::DoubleSpinBox *m, *arm_length, *l_cg;

  gui::DoubleSpinBox *k_mot, *c_mot;

  gui::DoubleSpinBox *f_air_vert, *f_air_lat;

  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;

};

} // end namespace simulator

} // end namespace flair

#endif // X4_H