Index: trunk/lib/FlairSensorActuator/CMakeLists.txt
===================================================================
--- trunk/lib/FlairSensorActuator/CMakeLists.txt	(revision 377)
+++ trunk/lib/FlairSensorActuator/CMakeLists.txt	(revision 378)
@@ -9,4 +9,5 @@
 	${CMAKE_CURRENT_SOURCE_DIR}/../FlairVisionFilter/src
 	${CMAKE_SYSROOT}/usr/include/vrpn
+    ${CMAKE_SYSROOT}/usr/include/sumo
 )
 
Index: trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h
===================================================================
--- trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h	(revision 377)
+++ trunk/lib/FlairSensorActuator/src/SimulatedUgvControls.h	(revision 378)
@@ -15,5 +15,4 @@
 
 #include <UgvControls.h>
-#include <Thread.h>
 
 namespace flair {
Index: trunk/lib/FlairSensorActuator/src/SumoUgvControls.cpp
===================================================================
--- trunk/lib/FlairSensorActuator/src/SumoUgvControls.cpp	(revision 378)
+++ trunk/lib/FlairSensorActuator/src/SumoUgvControls.cpp	(revision 378)
@@ -0,0 +1,68 @@
+// %flair:license{
+// This file is part of the Flair framework distributed under the
+// CECILL-C License, Version 1.0.
+// %flair:license}
+//  created:    2020/&2/09
+//  filename:   SumoUgvControls.cpp
+//
+//  author:     Guillaume Sanahuja
+//              Copyright Heudiasyc UMR UTC/CNRS 7253
+//
+//  version:    $Id: $
+//
+//  purpose:    Class for a parrot sumo ugv controls
+//
+//
+/*********************************************************************/
+#ifdef CORE2_64
+
+#include "SumoUgvControls.h"
+#include <Matrix.h>
+#include <control.h>
+#include <image.h>
+
+using std::string;
+using namespace sumo;
+
+class ImageProcessing : public sumo::Image {
+public:
+	void handleImage(const struct sumo::image *, const uint8_t *buffer, size_t size) {
+		//nothing to do in this demo
+	}
+};
+
+namespace flair {
+namespace actuator {
+
+SumoUgvControls::SumoUgvControls(string name)
+    : UgvControls(name) {
+  
+  sumoControl= new Control (new ImageProcessing);
+  if (!sumoControl->open()) {
+    Err("error opening sumo control\n");
+  } else {
+    SetIsReady(true);
+  }
+}
+
+SumoUgvControls::~SumoUgvControls() {
+  sumoControl->close();
+  delete sumoControl;
+}
+
+
+void SumoUgvControls::SetControls(float speed,float turn) {
+  sumoControl->move(speed*127, turn*127);
+
+  // on prend une fois pour toute le mutex et on fait des accès directs
+  output->GetMutex();
+  output->SetValueNoMutex(0, 0, speed);
+  output->SetValueNoMutex(1, 0, turn);
+  output->ReleaseMutex();
+}
+
+
+} // end namespace sensor
+} // end namespace flair
+
+#endif
Index: trunk/lib/FlairSensorActuator/src/SumoUgvControls.h
===================================================================
--- trunk/lib/FlairSensorActuator/src/SumoUgvControls.h	(revision 378)
+++ trunk/lib/FlairSensorActuator/src/SumoUgvControls.h	(revision 378)
@@ -0,0 +1,60 @@
+// %flair:license{
+// This file is part of the Flair framework distributed under the
+// CECILL-C License, Version 1.0.
+// %flair:license}
+/*!
+ * \file SumoUgvControls.h
+ * \brief Class for a parrot sumo ugv controls
+ * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
+ * \date 2020/12/09
+ * \version 4.0
+ */
+
+#ifndef SUMOUGVCONTROLS_H
+#define SUMOUGVCONTROLS_H
+
+#include <UgvControls.h>
+
+namespace sumo {
+    class Control;
+}
+
+namespace flair {
+namespace actuator {
+/*! \class SumoUgvControls
+*
+* \brief Class for a parrot sumo ugv controls
+*/
+class SumoUgvControls : public UgvControls {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SumoUgvControls.
+  *
+  * \param name name
+  */
+  SumoUgvControls(std::string name);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SumoUgvControls();
+
+  /*!
+  * \brief Set controls values
+  *
+  * Reimplemented from UgvControls. \n
+  *
+  * \param speed speed value
+  * \param turn turn value
+  */
+  void SetControls(float speed,float turn);
+private:
+ sumo::Control *sumoControl;
+  
+};
+} // end namespace actuator
+} // end namespace flair
+#endif // SUMOUGVCONTROLS_H
