source: flair-src/trunk/lib/FlairSimulator/src/X4.h@ 466

Last change on this file since 466 was 370, checked in by Sanahuja Guillaume, 4 years ago

add abilitiy to change x4 and x8 arm color from ground station

File size: 1.6 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
[370]35#ifdef GL
36namespace irr {
37namespace scene {
38class IMesh;
39}
40}
41#endif
42
[15]43namespace flair {
44namespace simulator {
45class Blade;
[8]46
[15]47class X4 : public Model {
48public:
[158]49 X4(std::string name, uint32_t modelId);
[15]50 ~X4();
[8]51#ifdef GL
[15]52 virtual void Draw(void);
[286]53 virtual void ExtraDraw(void){};
54#endif
[8]55
[15]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);
[286]63 Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
64 core::Mutex *motor_speed_mutex;
[370]65 irr::scene::IMesh *colored_arm;
[15]66#endif
[8]67
[15]68 actuator::SimuBldc *motors;
69 float motor_speed[4];
70 gui::DoubleSpinBox *m, *arm_length, *l_cg;
71 gui::DoubleSpinBox *k_mot, *c_mot;
72 gui::DoubleSpinBox *f_air_vert, *f_air_lat;
73 gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
[214]74 gui::SpinBox *motorTimeout;
[370]75 gui::SpinBox *armColorR,*armColorG,*armColorB;
[15]76};
[8]77} // end namespace simulator
78} // end namespace flair
79#endif // X4_H
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