source: flair-src/trunk/lib/FlairSimulator/src/X4.h@ 231

Last change on this file since 231 was 214, checked in by Sanahuja Guillaume, 7 years ago

matrix

File size: 1.4 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[8]5// created: 2012/08/21
6// filename: X4.h
7//
8// author: Osamah Saif, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant un x4
14//
15/*********************************************************************/
16
17#ifndef X4_H
18#define X4_H
19
20#include <Model.h>
21
[15]22namespace flair {
23namespace core {
24class Mutex;
[8]25}
[15]26namespace gui {
27class DoubleSpinBox;
[214]28class SpinBox;
[15]29}
30namespace actuator {
31class SimuBldc;
32}
33}
[8]34
[15]35namespace flair {
36namespace simulator {
37class Blade;
[8]38
[15]39class X4 : public Model {
40public:
[158]41 X4(std::string name, uint32_t modelId);
[15]42 ~X4();
[8]43#ifdef GL
[15]44 virtual void Draw(void);
45 virtual void ExtraDraw(void){};
[8]46
[15]47protected:
48 Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
49 core::Mutex *motor_speed_mutex;
[8]50#endif
[15]51private:
52 void CalcModel(void);
53#ifdef GL
54 void AnimateModel(void);
55 size_t dbtSize(void) const;
56 void WritedbtBuf(char *dbtbuf);
57 void ReaddbtBuf(char *dbtbuf);
58#endif
[8]59
[15]60 actuator::SimuBldc *motors;
61 float motor_speed[4];
62 gui::DoubleSpinBox *m, *arm_length, *l_cg;
63 gui::DoubleSpinBox *k_mot, *c_mot;
64 gui::DoubleSpinBox *f_air_vert, *f_air_lat;
65 gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
[214]66 gui::SpinBox *motorTimeout;
[15]67};
[8]68} // end namespace simulator
69} // end namespace flair
70#endif // X4_H
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