Last change
on this file since 175 was 158, checked in by Sanahuja Guillaume, 8 years ago |
corrected simu/device id for sensors
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File size:
1.4 KB
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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2012/08/21
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6 | // filename: X4.h
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7 | //
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8 | // author: Osamah Saif, Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: classe definissant un x4
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14 | //
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15 | /*********************************************************************/
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16 |
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17 | #ifndef X4_H
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18 | #define X4_H
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19 |
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20 | #include <Model.h>
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21 |
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22 | namespace flair {
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23 | namespace core {
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24 | class Mutex;
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25 | }
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26 | namespace gui {
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27 | class DoubleSpinBox;
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28 | }
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29 | namespace actuator {
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30 | class SimuBldc;
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31 | }
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32 | }
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33 |
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34 | namespace flair {
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35 | namespace simulator {
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36 | class Blade;
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37 |
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38 | class X4 : public Model {
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39 | public:
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40 | X4(std::string name, uint32_t modelId);
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41 | ~X4();
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42 | #ifdef GL
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43 | virtual void Draw(void);
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44 | virtual void ExtraDraw(void){};
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45 |
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46 | protected:
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47 | Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
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48 | core::Mutex *motor_speed_mutex;
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49 | #endif
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50 | private:
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51 | void CalcModel(void);
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52 | #ifdef GL
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53 | void AnimateModel(void);
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54 | size_t dbtSize(void) const;
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55 | void WritedbtBuf(char *dbtbuf);
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56 | void ReaddbtBuf(char *dbtbuf);
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57 | #endif
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58 |
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59 | actuator::SimuBldc *motors;
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60 | float motor_speed[4];
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61 | gui::DoubleSpinBox *m, *arm_length, *l_cg;
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62 | gui::DoubleSpinBox *k_mot, *c_mot;
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63 | gui::DoubleSpinBox *f_air_vert, *f_air_lat;
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64 | gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
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65 | };
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66 | } // end namespace simulator
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67 | } // end namespace flair
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68 | #endif // X4_H
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