source: flair-src/trunk/lib/FlairSimulator/src/X8.h

Last change on this file was 370, checked in by Sanahuja Guillaume, 8 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:    2014/04/03
6//  filename:   X8.h
7//
8//  author:     Majd Saied, Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe definissant un X8
14//
15/*********************************************************************/
16
17#ifndef X8_H
18#define X8_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 X8 : public Model {
48public:
49  X8(std::string name, uint32_t modelId);
50  ~X8();
51  virtual void Draw(void);
52  virtual void ExtraDraw(void){};
53
54protected:
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  core::Mutex *motor_speed_mutex;
64  Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
65  Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
66  irr::scene::IMesh *colored_arm;
67#endif
68
69  actuator::SimuBldc *motors;
70  float motor_speed[8];
71  gui::DoubleSpinBox *m, *arm_length, *l_cg;
72  gui::DoubleSpinBox *k_mot, *c_mot;
73  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
74  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
75  gui::DoubleSpinBox *j_r, *sigma, *S;
76  gui::SpinBox *motorTimeout;
77  gui::SpinBox *armColorR,*armColorG,*armColorB;
78};
79} // end namespace simulator
80} // end namespace flair
81#endif // X8_H
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