source: flair-src/trunk/lib/FlairSimulator/src/X4.h@ 175

Last change on this file since 175 was 158, checked in by Sanahuja Guillaume, 8 years ago

corrected simu/device id for sensors

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: 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
22namespace flair {
23namespace core {
24class Mutex;
25}
26namespace gui {
27class DoubleSpinBox;
28}
29namespace actuator {
30class SimuBldc;
31}
32}
33
34namespace flair {
35namespace simulator {
36class Blade;
37
38class X4 : public Model {
39public:
40 X4(std::string name, uint32_t modelId);
41 ~X4();
42#ifdef GL
43 virtual void Draw(void);
44 virtual void ExtraDraw(void){};
45
46protected:
47 Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
48 core::Mutex *motor_speed_mutex;
49#endif
50private:
51 void CalcModel(void);
52#ifdef GL
53 void AnimateModel(void);
54 size_t dbtSize(void) const;
55 void WritedbtBuf(char *dbtbuf);
56 void ReaddbtBuf(char *dbtbuf);
57#endif
58
59 actuator::SimuBldc *motors;
60 float motor_speed[4];
61 gui::DoubleSpinBox *m, *arm_length, *l_cg;
62 gui::DoubleSpinBox *k_mot, *c_mot;
63 gui::DoubleSpinBox *f_air_vert, *f_air_lat;
64 gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
65};
66} // end namespace simulator
67} // end namespace flair
68#endif // X4_H
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