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ardrone.hpp
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/
ardrone.hpp
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/**************************************************************************
* Copyright 2013 KISS Institute for Practical Robotics *
* *
* This file is part of libkovan. *
* *
* libkovan is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 2 of the License, or *
* (at your option) any later version. *
* *
* libkovan is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with libkovan. Check the LICENSE file in the project root. *
* If not, see <http://www.gnu.org/licenses/>. *
**************************************************************************/
#ifndef _ARDRONE_HPP_
#define _ARDRONE_HPP_
class DroneController;
class ARDrone
{
public:
enum State
{
Disconnected = 0,
Landed,
TakenOff
};
~ARDrone();
bool connect(const char *ip = "192.168.1.1");
void disconnect();
void flatTrim();
void takeoff();
void land();
void hover();
void move(const float x, const float y, const float z, const float yaw);
ARDrone::State state() const;
static ARDrone *instance();
private:
ARDrone();
DroneController *m_controller;
int m_controlFd;
};
#endif