Changeset 105 in flair-src for trunk/demos/PidStandalone/uav/src/PidUav.h


Ignore:
Timestamp:
Oct 18, 2016, 9:13:08 AM (5 years ago)
Author:
Bayard Gildas
Message:

Passage du "framework" à flair

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/demos/PidStandalone/uav/src/PidUav.h

    r44 r105  
    1717#include <UavStateMachine.h>
    1818
    19 namespace framework {
    20     namespace core {
    21         class FrameworkManager;
    22         class cvmatrix;
    23     }
    24     namespace gui {
    25         class GroupBox;
    26         class DoubleSpinBox;
    27     }
    28     namespace filter {
    29         class Pid;
    30     }
    31     namespace sensor {
    32         class TargetController;
    33     }
     19namespace flair {
     20  namespace core {
     21    class cvmatrix;
     22  }
     23  namespace gui {
     24    class GroupBox;
     25    class DoubleSpinBox;
     26  }
     27  namespace filter {
     28    class Pid;
     29  }
     30  namespace sensor {
     31    class TargetController;
     32  }
    3433}
    3534
    36 class PidUav : public framework::meta::UavStateMachine {
    37     public:
    38         PidUav(framework::meta::Uav* uav, framework::sensor::TargetController *controller);
    39         ~PidUav();
     35class PidUav : public flair::meta::UavStateMachine {
     36public:
     37  PidUav(flair::meta::Uav *uav,
     38         flair::sensor::TargetController *controller);
     39  ~PidUav();
    4040
    41     protected:
    42         void SignalEvent(Event_t event);
    43         void ExtraCheckJoystick(void);
    44     private:
    45         void ComputeCustomTorques(framework::core::Euler &torques);
    46         bool StartCustomMode();
    47         void StartOscillatingMode();
    48         framework::filter::Pid *my_uPitch,*my_uRoll;
    49         enum class BehaviourMode_t {
    50             Default,
    51             Oscillating
    52         };
    53         BehaviourMode_t behaviourMode;
     41protected:
     42  void SignalEvent(Event_t event);
     43  void ExtraCheckJoystick(void);
     44
     45private:
     46  void ComputeCustomTorques(flair::core::Euler &torques);
     47  bool StartCustomMode();
     48  void StartOscillatingMode();
     49  flair::filter::Pid *my_uPitch, *my_uRoll;
     50  enum class BehaviourMode_t { Default, Oscillating };
     51  BehaviourMode_t behaviourMode;
    5452};
    5553
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