Changeset 377 in flair-src for trunk/lib

Timestamp:

Dec 16, 2020, 9:40:44 AM (4 years ago)

Author:

Sanahuja Guillaume

Message:

ugv update

Location:

trunk/lib

Files:

• FlairMeta/src/SimuUgv.cpp (added)
• FlairMeta/src/SimuUgv.h (added)
• FlairMeta/src/Uav.cpp (modified) (2 diffs)
• FlairMeta/src/Uav.h (modified) (2 diffs)
• FlairMeta/src/Ugv.cpp (added)
• FlairMeta/src/Ugv.h (added)
• FlairMeta/src/UgvFactory.cpp (added)
• FlairMeta/src/UgvFactory.h (added)
• FlairSensorActuator/src/SimulatedUgvControls.cpp (modified) (3 diffs)
• FlairSensorActuator/src/SimulatedUgvControls.h (modified) (3 diffs)
• FlairSensorActuator/src/UgvControls.cpp (modified) (3 diffs)
• FlairSensorActuator/src/UgvControls.h (modified) (4 diffs)
• FlairSimulator/src/TwoWheelRobot.cpp (modified) (4 diffs)
• FlairSimulator/src/TwoWheelRobot.h (modified) (1 diff)

trunk/lib/FlairMeta/src/Uav.cpp

@@ -21 +21 @@
 #include <GridLayout.h>
 #include <DataPlot1D.h>
-#include <VrpnClient.h>
 #include <Ahrs.h>
 #include <Imu.h>
@@ -31 +30 @@
 #include <Matrix.h>
 #include "MetaUsRangeFinder.h"
-#include "MetaVrpnObject.h"
+
 
 using std::string;

trunk/lib/FlairMeta/src/Uav.h

@@ -11 +11 @@
  */
 
-#ifndef HDSUAV_H
-#define HDSUAV_H
+#ifndef UAV_H
+#define UAV_H
 
 #include <Object.h>
-#include <UsRangeFinder.h>
 
 namespace flair {
@@ -103 +102 @@
 } // end namespace meta
 } // end namespace flair
-#endif // HDSUAV_H
+#endif // UAV_H

trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.cpp

@@ -31 +31 @@
 namespace actuator {
 
-SimulatedUgvControls::SimulatedUgvControls(const IODevice *parent,string name, uint32_t modelId,uint32_t deviceId)
-    : UgvControls(parent,name) {
+SimulatedUgvControls::SimulatedUgvControls(string name, uint32_t modelId,uint32_t deviceId)
+    : UgvControls(name) {
   
-  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),2 * sizeof(float)+sizeof(Time));
+  shmem = new SharedMem(this, ShMemName(modelId, deviceId),2 * sizeof(float)+sizeof(Time));
   
   buf=(char*)malloc(2 * sizeof(float)+sizeof(Time));
@@ -57 +57 @@
 void SimulatedUgvControls::SetControls(float speed,float turn) {
   float *values=(float*)buf;
-  buf[0]=speed;
-  buf[1]=turn;
+  values[0]=speed;
+  values[1]=turn;
   Time time=GetTime();
   memcpy(buf+2 * sizeof(float),&time,sizeof(Time));
@@ -67 +67 @@
   output->GetMutex();
   for (int i = 0; i < 2; i++) {
-    output->SetValueNoMutex(i, 0, buf[i]);
+    output->SetValueNoMutex(i, 0, values[i]);
   }
   output->ReleaseMutex();

trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h

@@ -36 +36 @@
   * Construct a SimulatedUgvControls.
   *
-  * \param parent parent
   * \param name name
   * \param modelId Model id
   * \param deviceId Imu id of the Model
   */
-  SimulatedUgvControls(const core::IODevice *parent,std::string name,
+  SimulatedUgvControls(std::string name,
           uint32_t modelId,uint32_t deviceId);
 
@@ -50 +49 @@
   ~SimulatedUgvControls();
 
-private:
- 
   /*!
   * \brief Set controls values
@@ -61 +58 @@
   */
   void SetControls(float speed,float turn);
+private:
+ 
   
   char *buf;

trunk/lib/FlairSensorActuator/src/UgvControls.cpp

@@ -18 +18 @@
 #include "UgvControls.h"
 #include <Matrix.h>
+#include <FrameworkManager.h>
+#include <Tab.h>
+#include <DataPlot1D.h>
 
 using namespace flair::core;
+using namespace flair::gui;
 
 using std::string;
@@ -26 +30 @@
 namespace actuator {
 
-UgvControls::UgvControls(const IODevice *parent, string name)
-    : IODevice(parent, name) {
+UgvControls::UgvControls(string name)
+    : IODevice(getFrameworkManager(), name) {
+  mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
   
   MatrixDescriptor *desc = new MatrixDescriptor(2, 1);
@@ -42 +47 @@
 
 void UgvControls::UseDefaultPlot(void) {
-  
+  DataPlot1D *speedPlot = new DataPlot1D(mainTab->NewRow(), "speed", -1, 1);
+  speedPlot->AddCurve(output->Element(0));
+  DataPlot1D *turnPlot = new DataPlot1D(mainTab->LastRowLastCol(), "turn", -1, 1);
+  turnPlot->AddCurve(output->Element(1));
 }
 

trunk/lib/FlairSensorActuator/src/UgvControls.h

@@ -18 +18 @@
 namespace flair {
 namespace core {
-class Matrix;
+  class Matrix;
+}
+namespace gui {
+  class Tab;
 }
 }
@@ -35 +38 @@
   * \brief Constructor
   *
-  * Construct a UgvControls.
+  * Construct a UgvControls. It will be child of the FrameworkManager.
   *
-  * \param parent parent
   * \param name name
   */
-  UgvControls(const core::IODevice *parent, std::string name);
+  UgvControls(std::string name);
 
   /*!
@@ -63 +65 @@
   core::Matrix *Output(void) const;
   
+  /*!
+  * \brief Set controls values
+  *
+  * \param speed speed value
+  * \param turn turn value
+  */
+  virtual void SetControls(float speed,float turn)=0;
+  
 protected:
   core::Matrix *output;
@@ -75 +85 @@
   */
   void UpdateFrom(const core::io_data *data){};
-
-  /*!
-  * \brief Set controls values
-  *
-  * \param speed speed value
-  * \param turn turn value
-  */
-  virtual void SetControls(float speed,float turn)=0;
   
-
+  gui::Tab *mainTab;
 };
 } // end namespace actuator

trunk/lib/FlairSimulator/src/TwoWheelRobot.cpp

@@ -50 +50 @@
   m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1,1,0.2);
   size = new DoubleSpinBox(setup_tab->NewRow(), "size (m):", 0, 20, 0.1,1,0.1);
+  t_speed = new DoubleSpinBox(setup_tab->NewRow(), "translational speed (m/s):",
+                              0, 5, 0.1);
+  r_speed = new DoubleSpinBox(setup_tab->NewRow(), "rotational speed (deg/s):",
+                              0, 180, 10);
   
   
@@ -56 +60 @@
   bodyColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
   bodyColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);
+  
+ 
   
   controls = new SimuUgvControls(this, name, modelId,0);
@@ -155 +161 @@
 
   controls->GetControls(&speed,&turn,&motorTime);
-          
+         
   // compute quaternion from W
   // Quaternion derivative: dQ = 0.5*(  Q*Qw)
   state[0].W.x=0;
   state[0].W.y=0;
-  state[0].W.z=turn;
+  state[0].W.z=turn*r_speed->Value();
   Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
 
@@ -167 +173 @@
   state[0].Quat.Normalize();
 
-  Vector3D<double> dir = Vector3D<double>(speed,0,0);
+  Vector3D<double> dir = Vector3D<double>(speed*t_speed->Value(),0,0);
   dir.Rotate(state[0].Quat);
   state[0].Pos = state[-1].Pos + dT() * dir;

trunk/lib/FlairSimulator/src/TwoWheelRobot.h

@@ -64 +64 @@
 #endif
   gui::SpinBox *bodyColorR,*bodyColorG,*bodyColorB;
-  gui::DoubleSpinBox *size,*m;
+  gui::DoubleSpinBox *size,*m,*t_speed,*r_speed;
   actuator::SimuUgvControls *controls;