Changeset 13 in flair-dev for trunk/include/FlairMeta/Uav.h

Timestamp:

04/08/16 15:39:24 (8 years ago)

Author:

Bayard Gildas

Message:

formatting script + include reformatted

File:

• trunk/include/FlairMeta/Uav.h (modified) (1 diff)

trunk/include/FlairMeta/Uav.h

@@ -17 +17 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-    }
-    namespace filter {
-        class Ahrs;
-        class UavMultiplex;
-    }
-    namespace actuator {
-        class Bldc;
-    }
-    namespace sensor {
-        class UsRangeFinder;
-        class BatteryMonitor;
-        class VrpnClient;
-        class Imu;
-        class Camera;
-    }
+namespace core {
+class FrameworkManager;
+}
+namespace filter {
+class Ahrs;
+class UavMultiplex;
+}
+namespace actuator {
+class Bldc;
+}
+namespace sensor {
+class UsRangeFinder;
+class BatteryMonitor;
+class VrpnClient;
+class Imu;
+class Camera;
+}
 }
 
 namespace flair {
 namespace meta {
-    class MetaUsRangeFinder;
-    class MetaVrpnObject;
+class MetaUsRangeFinder;
+class MetaVrpnObject;
 
-    /*! \class Uav
-    *
-    * \brief Base class to construct sensors/actuators depending on uav type
-    */
-    class Uav: public core::Object {
-        public:
-        /*
-            typedef enum {
-                None,
-                Auto,//rt serial if hds x4 ou x8, auto ip sinon
-                AutoIP,
-                UserDefinedIP,
-                AutoSerialPort,
-                } VRPNType_t;
+/*! \class Uav
+*
+* \brief Base class to construct sensors/actuators depending on uav type
 */
-            //uav_name: for optitrack
-            Uav(core::FrameworkManager* parent,std::string name,filter::UavMultiplex *multiplex=NULL);
-            ~Uav();
-            void SetupVRPN(std::string optitrack_address,std::string name);
-            //vrpn serial: broken, need to add serial port in uav specific code
-            //void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int VRPNSerialObjectId);
-            virtual void SetupVRPNAutoIP(std::string name);
+class Uav : public core::Object {
+public:
+  /*
+      typedef enum {
+          None,
+          Auto,//rt serial if hds x4 ou x8, auto ip sinon
+          AutoIP,
+          UserDefinedIP,
+          AutoSerialPort,
+          } VRPNType_t;
+*/
+  // uav_name: for optitrack
+  Uav(core::FrameworkManager *parent, std::string name,
+      filter::UavMultiplex *multiplex = NULL);
+  ~Uav();
+  void SetupVRPN(std::string optitrack_address, std::string name);
+  // vrpn serial: broken, need to add serial port in uav specific code
+  // void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int
+  // VRPNSerialObjectId);
+  virtual void SetupVRPNAutoIP(std::string name);
 
-            virtual void StartSensors(void);
-            void UseDefaultPlot(void);
-            actuator::Bldc* GetBldc(void) const;
-            filter::UavMultiplex* GetUavMultiplex(void) const;
-            sensor::Imu* GetImu(void) const;
-            filter::Ahrs* GetAhrs(void) const;
-            MetaUsRangeFinder* GetMetaUsRangeFinder(void) const;
-            sensor::UsRangeFinder* GetUsRangeFinder(void) const;
-            sensor::BatteryMonitor* GetBatteryMonitor(void) const;
-            sensor::VrpnClient* GetVrpnClient(void) const;
-            meta::MetaVrpnObject* GetVrpnObject(void) const;
-            sensor::Camera* GetVerticalCamera(void) const;
+  virtual void StartSensors(void);
+  void UseDefaultPlot(void);
+  actuator::Bldc *GetBldc(void) const;
+  filter::UavMultiplex *GetUavMultiplex(void) const;
+  sensor::Imu *GetImu(void) const;
+  filter::Ahrs *GetAhrs(void) const;
+  MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
+  sensor::UsRangeFinder *GetUsRangeFinder(void) const;
+  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
+  sensor::VrpnClient *GetVrpnClient(void) const;
+  meta::MetaVrpnObject *GetVrpnObject(void) const;
+  sensor::Camera *GetVerticalCamera(void) const;
 
-        protected:
-            void SetBldc(const actuator::Bldc *bldc);
-            void SetMultiplex(const filter::UavMultiplex *multiplex);
-            void SetAhrs(const filter::Ahrs *ahrs);
-            void SetUsRangeFinder(const sensor::UsRangeFinder *us);
-            void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
-            void SetVerticalCamera(const sensor::Camera *verticalCamera);
+protected:
+  void SetBldc(const actuator::Bldc *bldc);
+  void SetMultiplex(const filter::UavMultiplex *multiplex);
+  void SetAhrs(const filter::Ahrs *ahrs);
+  void SetUsRangeFinder(const sensor::UsRangeFinder *us);
+  void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
+  void SetVerticalCamera(const sensor::Camera *verticalCamera);
 
-        private:
-            sensor::Imu* imu;
-            filter::Ahrs* ahrs;
-            actuator::Bldc* bldc;
-            filter::UavMultiplex *multiplex;
-            sensor::UsRangeFinder* us;
-            MetaUsRangeFinder* meta_us;
-            sensor::VrpnClient *vrpnclient;
-            MetaVrpnObject* uav_vrpn;
-            sensor::BatteryMonitor* battery;
-            sensor::Camera* verticalCamera;
-    };
+private:
+  sensor::Imu *imu;
+  filter::Ahrs *ahrs;
+  actuator::Bldc *bldc;
+  filter::UavMultiplex *multiplex;
+  sensor::UsRangeFinder *us;
+  MetaUsRangeFinder *meta_us;
+  sensor::VrpnClient *vrpnclient;
+  MetaVrpnObject *uav_vrpn;
+  sensor::BatteryMonitor *battery;
+  sensor::Camera *verticalCamera;
+};
 } // end namespace meta
 } // end namespace flair