source: flair-src/trunk/lib/FlairSimulator/src/X8.h @ 158

Last change on this file since 158 was 158, checked in by Sanahuja Guillaume, 4 years ago

corrected simu/device id for sensors

File size: 1.5 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;
28}
29namespace actuator {
30class SimuBldc;
31}
32}
33
34namespace flair {
35namespace simulator {
36class Blade;
37
38class X8 : public Model {
39public:
40  X8(std::string name, uint32_t modelId);
41  ~X8();
42  virtual void Draw(void);
43  virtual void ExtraDraw(void){};
44
45protected:
46#ifdef GL
47  Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
48  Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
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  core::Mutex *motor_speed_mutex;
58#endif
59
60  actuator::SimuBldc *motors;
61  float motor_speed[8];
62  gui::DoubleSpinBox *m, *arm_length, *l_cg;
63  gui::DoubleSpinBox *k_mot, *c_mot;
64  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
65  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
66  gui::DoubleSpinBox *j_r, *sigma, *S;
67};
68} // end namespace simulator
69} // end namespace flair
70#endif // X8_H
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