ajout de la class Pince

simulation/Makefile.am

@@ -17,7 +17,8 @@ src/distance.cpp \
 src/Angle.cpp \
 src/strategie.cpp \
 src/pid_filter_angle.cpp \
-src/pid_filter_distance.cpp
+src/pid_filter_distance.cpp \
+src/pince.cpp 
 
 paprika_INCLS=\
 include/simul/main.h \

simulation/aclocal.m4

@@ -13,14 +13,13 @@
 
 m4_ifndef([AC_AUTOCONF_VERSION],
   [m4_copy([m4_PACKAGE_VERSION], [AC_AUTOCONF_VERSION])])dnl
-m4_if(m4_defn([AC_AUTOCONF_VERSION]), [2.68],,
-[m4_warning([this file was generated for autoconf 2.68.
+m4_if(m4_defn([AC_AUTOCONF_VERSION]), [2.65],,
+[m4_warning([this file was generated for autoconf 2.65.
 You have another version of autoconf.  It may work, but is not guaranteed to.
 If you have problems, you may need to regenerate the build system entirely.
 To do so, use the procedure documented by the package, typically `autoreconf'.])])
 
 # pkg.m4 - Macros to locate and utilise pkg-config.            -*- Autoconf -*-
-# serial 1 (pkg-config-0.24)
 # 
 # Copyright © 2004 Scott James Remnant <scott@netsplit.com>.
 #
@@ -48,10 +47,7 @@ To do so, use the procedure documented by the package, typically `autoreconf'.])
 AC_DEFUN([PKG_PROG_PKG_CONFIG],
 [m4_pattern_forbid([^_?PKG_[A-Z_]+$])
 m4_pattern_allow([^PKG_CONFIG(_PATH)?$])
-AC_ARG_VAR([PKG_CONFIG], [path to pkg-config utility])
-AC_ARG_VAR([PKG_CONFIG_PATH], [directories to add to pkg-config's search path])
-AC_ARG_VAR([PKG_CONFIG_LIBDIR], [path overriding pkg-config's built-in search path])
-
+AC_ARG_VAR([PKG_CONFIG], [path to pkg-config utility])dnl
 if test "x$ac_cv_env_PKG_CONFIG_set" != "xset"; then
 	AC_PATH_TOOL([PKG_CONFIG], [pkg-config])
 fi
@@ -64,6 +60,7 @@ if test -n "$PKG_CONFIG"; then
 		AC_MSG_RESULT([no])
 		PKG_CONFIG=""
 	fi
+		
 fi[]dnl
 ])# PKG_PROG_PKG_CONFIG
 
@@ -72,31 +69,34 @@ fi[]dnl
 # Check to see whether a particular set of modules exists.  Similar
 # to PKG_CHECK_MODULES(), but does not set variables or print errors.
 #
-# Please remember that m4 expands AC_REQUIRE([PKG_PROG_PKG_CONFIG])
-# only at the first occurence in configure.ac, so if the first place
-# it's called might be skipped (such as if it is within an "if", you
-# have to call PKG_CHECK_EXISTS manually
+#
+# Similar to PKG_CHECK_MODULES, make sure that the first instance of
+# this or PKG_CHECK_MODULES is called, or make sure to call
+# PKG_CHECK_EXISTS manually
 # --------------------------------------------------------------
 AC_DEFUN([PKG_CHECK_EXISTS],
 [AC_REQUIRE([PKG_PROG_PKG_CONFIG])dnl
 if test -n "$PKG_CONFIG" && \
     AC_RUN_LOG([$PKG_CONFIG --exists --print-errors "$1"]); then
-  m4_default([$2], [:])
+  m4_ifval([$2], [$2], [:])
 m4_ifvaln([$3], [else
   $3])dnl
 fi])
 
+
 # _PKG_CONFIG([VARIABLE], [COMMAND], [MODULES])
 # ---------------------------------------------
 m4_define([_PKG_CONFIG],
-[if test -n "$$1"; then
-    pkg_cv_[]$1="$$1"
- elif test -n "$PKG_CONFIG"; then
-    PKG_CHECK_EXISTS([$3],
-                     [pkg_cv_[]$1=`$PKG_CONFIG --[]$2 "$3" 2>/dev/null`],
-		     [pkg_failed=yes])
- else
-    pkg_failed=untried
+[if test -n "$PKG_CONFIG"; then
+    if test -n "$$1"; then
+        pkg_cv_[]$1="$$1"
+    else
+        PKG_CHECK_EXISTS([$3],
+                         [pkg_cv_[]$1=`$PKG_CONFIG --[]$2 "$3" 2>/dev/null`],
+			 [pkg_failed=yes])
+    fi
+else
+	pkg_failed=untried
 fi[]dnl
 ])# _PKG_CONFIG
 
@@ -138,17 +138,16 @@ and $1[]_LIBS to avoid the need to call pkg-config.
 See the pkg-config man page for more details.])
 
 if test $pkg_failed = yes; then
-   	AC_MSG_RESULT([no])
         _PKG_SHORT_ERRORS_SUPPORTED
         if test $_pkg_short_errors_supported = yes; then
-	        $1[]_PKG_ERRORS=`$PKG_CONFIG --short-errors --print-errors "$2" 2>&1`
+	        $1[]_PKG_ERRORS=`$PKG_CONFIG --short-errors --errors-to-stdout --print-errors "$2"`
         else 
-	        $1[]_PKG_ERRORS=`$PKG_CONFIG --print-errors "$2" 2>&1`
+	        $1[]_PKG_ERRORS=`$PKG_CONFIG --errors-to-stdout --print-errors "$2"`
         fi
 	# Put the nasty error message in config.log where it belongs
 	echo "$$1[]_PKG_ERRORS" >&AS_MESSAGE_LOG_FD
 
-	m4_default([$4], [AC_MSG_ERROR(
+	ifelse([$4], , [AC_MSG_ERROR(dnl
 [Package requirements ($2) were not met:
 
 $$1_PKG_ERRORS
@@ -156,24 +155,25 @@ $$1_PKG_ERRORS
 Consider adjusting the PKG_CONFIG_PATH environment variable if you
 installed software in a non-standard prefix.
 
-_PKG_TEXT])[]dnl
-        ])
+_PKG_TEXT
+])],
+		[AC_MSG_RESULT([no])
+                $4])
 elif test $pkg_failed = untried; then
-     	AC_MSG_RESULT([no])
-	m4_default([$4], [AC_MSG_FAILURE(
+	ifelse([$4], , [AC_MSG_FAILURE(dnl
 [The pkg-config script could not be found or is too old.  Make sure it
 is in your PATH or set the PKG_CONFIG environment variable to the full
 path to pkg-config.
 
 _PKG_TEXT
 
-To get pkg-config, see <http://pkg-config.freedesktop.org/>.])dnl
-        ])
+To get pkg-config, see <http://pkg-config.freedesktop.org/>.])],
+		[$4])
 else
 	$1[]_CFLAGS=$pkg_cv_[]$1[]_CFLAGS
 	$1[]_LIBS=$pkg_cv_[]$1[]_LIBS
         AC_MSG_RESULT([yes])
-	$3
+	ifelse([$3], , :, [$3])
 fi[]dnl
 ])# PKG_CHECK_MODULES
 

stm32/include/pince.h

+#ifndef PINCE_H_INCLUDED
+#define PINCE_H_INCLUDED
+
+class Robot;
+
+class Pince
+{
+public:
+	Robot* robot;
+	Pince(Robot* robot);
+	void serrerElem();
+	void lacherElem();
+	void setLevel(unsigned int h);
+        unsigned int getLevel();
+};
+
+#endif //PINCE_H_INCLUDED

stm32/src/pince.cpp

+#include "simul/element.h"
+#include "simul/robot.h"
+
+#include "pince.h"
+Pince::Pince(Robot* robot)
+{
+	this->robot = robot;
+};
+
+void Pince::serrerElem()
+{
+	if(!robot->joint)
+   	    robot->makeJoint();
+};
+unsigned int Pince::getLevel()
+{
+    return robot->level;
+}
+void Pince::setLevel(unsigned int h)
+{
+	robot->level = h;
+};
+
+void Pince::lacherElem()
+{
+	if(robot->joint)
+   	    robot->makeJoint();
+};
+