source: flair-src/trunk/lib/FlairSimulator/src/X8.h@ 201

Last change on this file since 201 was 158, checked in by Sanahuja Guillaume, 8 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
Note: See TracBrowser for help on using the repository browser.