source: flair-src/trunk/lib/FlairSimulator/src/X4.h@ 299

Last change on this file since 299 was 286, checked in by Sanahuja Guillaume, 6 years ago

draw vrpn axis in simulator

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;
28class SpinBox;
29}
30namespace actuator {
31class SimuBldc;
32}
33}
34
35namespace flair {
36namespace simulator {
37class Blade;
38
39class X4 : public Model {
40public:
41 X4(std::string name, uint32_t modelId);
42 ~X4();
43#ifdef GL
44 virtual void Draw(void);
45 virtual void ExtraDraw(void){};
46#endif
47
48private:
49 void CalcModel(void);
50#ifdef GL
51 void AnimateModel(void);
52 size_t dbtSize(void) const;
53 void WritedbtBuf(char *dbtbuf);
54 void ReaddbtBuf(char *dbtbuf);
55 Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
56 core::Mutex *motor_speed_mutex;
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 gui::SpinBox *motorTimeout;
66};
67} // end namespace simulator
68} // end namespace flair
69#endif // X4_H
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