Flair
Framework Libre Air
X4.h
1 // %flair:license{
2 // This file is part of the Flair framework distributed under the
3 // CECILL-C License, Version 1.0.
4 // %flair:license}
5 // created: 2012/08/21
6 // filename: X4.h
7 //
8 // author: Osamah Saif, Guillaume Sanahuja
9 // Copyright Heudiasyc UMR UTC/CNRS 7253
10 //
11 // version: $Id: $
12 //
13 // purpose: classe definissant un x4
14 //
15 /*********************************************************************/
16 
17 #ifndef X4_H
18 #define X4_H
19 
20 #include <Model.h>
21 
22 namespace flair {
23 namespace core {
24 class Mutex;
25 }
26 namespace gui {
27 class DoubleSpinBox;
28 class SpinBox;
29 }
30 namespace actuator {
31 class SimuBldc;
32 }
33 }
34 
35 namespace flair {
36 namespace simulator {
37 class Blade;
38 
39 class X4 : public Model {
40 public:
41  X4(std::string name, uint32_t modelId);
42  ~X4();
43 #ifdef GL
44  virtual void Draw(void);
45  virtual void ExtraDraw(void){};
46 #endif
47 
48 private:
49  void CalcModel(void);
50 #ifdef GL
51  void AnimateModel(void);
52  size_t dbtSize(void) const;
53  void WritedbtBuf(char *dbtbuf);
54  void ReaddbtBuf(char *dbtbuf);
55  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
56  core::Mutex *motor_speed_mutex;
57 #endif
58 
59  actuator::SimuBldc *motors;
60  float motor_speed[4];
61  gui::DoubleSpinBox *m, *arm_length, *l_cg;
62  gui::DoubleSpinBox *k_mot, *c_mot;
63  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
64  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
65  gui::SpinBox *motorTimeout;
66 };
67 } // end namespace simulator
68 } // end namespace flair
69 #endif // X4_H
namespace of the flair Framework
Definition: Ahrs.h:19
Definition: Blade.h:33
Definition: X4.h:39
Class defining a mutex.
Definition: Mutex.h:29
Class displaying a QSpinBox on the ground station.
Definition: SpinBox.h:28
Definition: Model.h:55
Class for a simulation bldc.
Definition: SimuBldc.h:31
Class displaying a QDoubleSpinBox on the ground station.
Definition: DoubleSpinBox.h:28