source: flair-src/trunk/lib/FlairSimulator/src/X4.h @ 370

Last change on this file since 370 was 370, checked in by Sanahuja Guillaume, 11 months ago

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

File size: 1.6 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
35#ifdef GL
36namespace irr {
37namespace scene {
38class IMesh;
39}
40}
41#endif
42
43namespace flair {
44namespace simulator {
45class Blade;
46
47class X4 : public Model {
48public:
49  X4(std::string name, uint32_t modelId);
50  ~X4();
51#ifdef GL
52  virtual void Draw(void);
53  virtual void ExtraDraw(void){}; 
54#endif
55
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);
63  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
64  core::Mutex *motor_speed_mutex;
65  irr::scene::IMesh *colored_arm;
66#endif
67
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;
74  gui::SpinBox *motorTimeout;
75  gui::SpinBox *armColorR,*armColorG,*armColorB;
76};
77} // end namespace simulator
78} // end namespace flair
79#endif // X4_H
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