Flair
Framework Libre Air
flair::filter::JoyReference Class Reference

Class creating references from a joystick. More...

#include <JoyReference.h>

+ Inheritance diagram for flair::filter::JoyReference:

Public Member Functions

 JoyReference (const gui::LayoutPosition *position, std::string name)
 Constructor. More...
 
 ~JoyReference ()
 Destructor. More...
 
void SetRollAxis (float value)
 Set roll axis value. More...
 
void SetPitchAxis (float value)
 Set pitch axis value. More...
 
void SetYawAxis (float value)
 Set yaw axis value. More...
 
void SetAltitudeAxis (float value)
 Set thrust axis value. More...
 
core::AhrsDataGetReferenceOrientation (void) const
 Get orientation reference. More...
 
float ZRef (void) const
 Get z reference. More...
 
float DzRef (void) const
 Get z derivative reference. More...
 
float RollTrim (void) const
 Get roll trim. More...
 
float PitchTrim (void) const
 Get pitch trim. More...
 
void SetYawRef (float value)
 Set yaw reference. More...
 
void SetYawRef (core::Quaternion const &value)
 Set yaw reference. More...
 
void SetZRef (float value)
 Set z reference. More...
 
void RollTrimUp (void)
 Trim up roll. More...
 
void RollTrimDown (void)
 Trim down roll. More...
 
void PitchTrimUp (void)
 Trim up pitch. More...
 
void PitchTrimDown (void)
 Trim down pitch. More...
 
void Update (core::Time time)
 Update references. More...
 
- Public Member Functions inherited from flair::core::IODevice
 IODevice (const Object *parent, std::string name)
 Constructor. More...
 
virtual ~IODevice ()
 Destructor. More...
 
void AddDeviceToLog (const IODevice *device)
 Add an IODevice to the logs. More...
 
void AddDataToLog (const io_data *data)
 Add an io_data to the log. More...
 
void OutputToShMem (bool enabled)
 Send the output to a shared memory. More...
 
bool IsReady (void) const
 is device ready More...
 
virtual DataType const & GetInputDataType () const
 
virtual DataType const & GetOutputDataType () const
 
- Public Member Functions inherited from flair::core::Object
 Object (const Object *parent=NULL, std::string name="", std::string type="")
 Constructor. More...
 
virtual ~Object ()
 Destructor. More...
 
std::string ObjectName (void) const
 Name. More...
 
std::string ObjectType (void) const
 Type. More...
 
const ObjectParent (void) const
 Parent. More...
 
std::vector< const Object * > * TypeChilds (void) const
 Childs of the same type. More...
 
std::vector< const Object * > * Childs (void) const
 Childs. More...
 
void Information (const char *function, int line, const char *format,...) const
 Formatted information. More...
 
void Warning (const char *function, const char *format,...) const
 Formatted warning. More...
 
void Error (const char *function, const char *format,...) const
 Formatted error. More...
 
bool ErrorOccured (bool recursive=true) const
 Has an errror occured? More...
 

Additional Inherited Members

- Public Types inherited from flair::core::Object
enum  color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 }
 
- Protected Member Functions inherited from flair::core::IODevice
void ProcessUpdate (io_data *data)
 Process the childs of type IODevice, and log if needed. More...
 
void SetIsReady (bool status)
 set is ready More...
 

Detailed Description

Class creating references from a joystick.

Constructor & Destructor Documentation

flair::filter::JoyReference::JoyReference ( const gui::LayoutPosition position,
std::string  name 
)

Constructor.

Construct a JoyReference at given position.
The JoyReference will automatically be child of position->getLayout() Layout. After calling this function, position will be deleted as it is no longer usefull.
JoyReference compute reference in quaternion, wz, altitude and altitude speed.

Parameters
positionposition
namename
flair::filter::JoyReference::~JoyReference ( )

Destructor.

Member Function Documentation

void flair::filter::JoyReference::SetRollAxis ( float  value)

Set roll axis value.

Parameters
valuevalue
void flair::filter::JoyReference::SetPitchAxis ( float  value)

Set pitch axis value.

Parameters
valuevalue
void flair::filter::JoyReference::SetYawAxis ( float  value)

Set yaw axis value.

Parameters
valuevalue
void flair::filter::JoyReference::SetAltitudeAxis ( float  value)

Set thrust axis value.

Parameters
valuevalue
core::AhrsData* flair::filter::JoyReference::GetReferenceOrientation ( void  ) const

Get orientation reference.

Returns
reference
float flair::filter::JoyReference::ZRef ( void  ) const

Get z reference.

Returns
reference
float flair::filter::JoyReference::DzRef ( void  ) const

Get z derivative reference.

Returns
reference
float flair::filter::JoyReference::RollTrim ( void  ) const

Get roll trim.

Returns
trim value
float flair::filter::JoyReference::PitchTrim ( void  ) const

Get pitch trim.

Returns
trim value
void flair::filter::JoyReference::SetYawRef ( float  value)

Set yaw reference.

Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.
This method reset the yaw.

Parameters
valuevalue
void flair::filter::JoyReference::SetYawRef ( core::Quaternion const &  value)

Set yaw reference.

Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.
This method reset the yaw.

Parameters
valuevalue, only the yaw part of the quaternion is used
void flair::filter::JoyReference::SetZRef ( float  value)

Set z reference.

Altitude of the output is obtained by integrating the vz desired altitude speed.
This method reset z.

Parameters
valuevalue
void flair::filter::JoyReference::RollTrimUp ( void  )

Trim up roll.

Roll trim value is increased by one

void flair::filter::JoyReference::RollTrimDown ( void  )

Trim down roll.

Roll trim value is decreased by one

void flair::filter::JoyReference::PitchTrimUp ( void  )

Trim up pitch.

Pitch trim value is increased by one

void flair::filter::JoyReference::PitchTrimDown ( void  )

Trim down pitch.

Pitch trim value is decreased by one

void flair::filter::JoyReference::Update ( core::Time  time)

Update references.

Calls UpdateFrom with values entered manually.

Parameters
timetime