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108<div class="title">AhrsComplementaryFilter.h</div>  </div>
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110<div class="contents">
111<a href="_ahrs_complementary_filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef AHRSCOMPLEMENTARYFILTER_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define AHRSCOMPLEMENTARYFILTER_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_ahrs_8h.html">Ahrs.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_vector3_d_8h.html">Vector3D.h</a>&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_quaternion_8h.html">Quaternion.h</a>&gt;</span></div>
121<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
122<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
123<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">namespace </span>sensor {</div>
124<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        <span class="keyword">class </span>Imu;</div>
125<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    }</div>
126<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">namespace </span>gui {</div>
127<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">class </span>DoubleSpinBox;</div>
128<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keyword">class </span>Vector3DSpinBox;</div>
129<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    }</div>
130<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div>
131<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
132<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> { <span class="keyword">namespace </span>filter {</div>
133<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_ahrs_complementary_filter.html">   37</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_ahrs_complementary_filter.html">AhrsComplementaryFilter</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1filter_1_1_ahrs.html">Ahrs</a> {</div>
134<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keyword">public</span>:</div>
135<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            <a class="code" href="classflair_1_1filter_1_1_ahrs_complementary_filter.html#a0d84c007f97464fab7dfddc142bb2838">AhrsComplementaryFilter</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html">sensor::Imu</a>* parent,std::string name);</div>
136<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
137<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <a class="code" href="classflair_1_1filter_1_1_ahrs_complementary_filter.html#a49fa4d09c766a3ef9aaeea5476b4f892">~AhrsComplementaryFilter</a>();</div>
138<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div>
139<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keyword">private</span>:</div>
140<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
141<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
142<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            <a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> previous_time;</div>
143<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
144<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            <span class="keywordtype">bool</span> isInit;</div>
145<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;            <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> QHat;</div>
146<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;            <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> BHat;</div>
147<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *ka[3];</div>
148<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *kb[3];</div>
149<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *km[3];</div>
150<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            <a class="code" href="classflair_1_1gui_1_1_vector3_d_spin_box.html">gui::Vector3DSpinBox</a> *magRef;</div>
151<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    };</div>
152<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;} <span class="comment">// end namespace filter</span></div>
153<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;} <span class="comment">// end namespace flair</span></div>
154<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#endif // AHRSCOMPLEMENTARYFILTER_H</span></div>
155<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
156<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
157<div class="ttc" id="classflair_1_1core_1_1_vector3_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector3_d.html">flair::core::Vector3D&lt; float &gt;</a></div></div>
158<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:49</div></div>
159<div class="ttc" id="_vector3_d_8h_html"><div class="ttname"><a href="_vector3_d_8h.html">Vector3D.h</a></div><div class="ttdoc">Class defining a 3D vector. </div></div>
160<div class="ttc" id="classflair_1_1sensor_1_1_imu_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html">flair::sensor::Imu</a></div><div class="ttdoc">Base class for Imu. </div><div class="ttdef"><b>Definition:</b> Imu.h:44</div></div>
161<div class="ttc" id="classflair_1_1filter_1_1_ahrs_html"><div class="ttname"><a href="classflair_1_1filter_1_1_ahrs.html">flair::filter::Ahrs</a></div><div class="ttdoc">Abstract class for AHRS. </div><div class="ttdef"><b>Definition:</b> Ahrs.h:44</div></div>
162<div class="ttc" id="classflair_1_1filter_1_1_ahrs_complementary_filter_html_a49fa4d09c766a3ef9aaeea5476b4f892"><div class="ttname"><a href="classflair_1_1filter_1_1_ahrs_complementary_filter.html#a49fa4d09c766a3ef9aaeea5476b4f892">flair::filter::AhrsComplementaryFilter::~AhrsComplementaryFilter</a></div><div class="ttdeci">~AhrsComplementaryFilter()</div><div class="ttdoc">Destructor. </div></div>
163<div class="ttc" id="_quaternion_8h_html"><div class="ttname"><a href="_quaternion_8h.html">Quaternion.h</a></div><div class="ttdoc">Class defining a quaternion. </div></div>
164<div class="ttc" id="classflair_1_1gui_1_1_double_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_double_spin_box.html">flair::gui::DoubleSpinBox</a></div><div class="ttdoc">Class displaying a QDoubleSpinBox on the ground station. </div><div class="ttdef"><b>Definition:</b> DoubleSpinBox.h:28</div></div>
165<div class="ttc" id="_ahrs_8h_html"><div class="ttname"><a href="_ahrs_8h.html">Ahrs.h</a></div><div class="ttdoc">Abstract class for AHRS. </div></div>
166<div class="ttc" id="classflair_1_1filter_1_1_ahrs_complementary_filter_html_a0d84c007f97464fab7dfddc142bb2838"><div class="ttname"><a href="classflair_1_1filter_1_1_ahrs_complementary_filter.html#a0d84c007f97464fab7dfddc142bb2838">flair::filter::AhrsComplementaryFilter::AhrsComplementaryFilter</a></div><div class="ttdeci">AhrsComplementaryFilter(const sensor::Imu *parent, std::string name)</div><div class="ttdoc">Constructor. </div></div>
167<div class="ttc" id="classflair_1_1gui_1_1_vector3_d_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_vector3_d_spin_box.html">flair::gui::Vector3DSpinBox</a></div><div class="ttdoc">Class displaying 3 QDoubleSpinBox for x,y,z on the ground station. </div><div class="ttdef"><b>Definition:</b> Vector3DSpinBox.h:28</div></div>
168<div class="ttc" id="classflair_1_1filter_1_1_ahrs_complementary_filter_html"><div class="ttname"><a href="classflair_1_1filter_1_1_ahrs_complementary_filter.html">flair::filter::AhrsComplementaryFilter</a></div><div class="ttdoc">Class defining an Ahrs complementary filter. </div><div class="ttdef"><b>Definition:</b> AhrsComplementaryFilter.h:37</div></div>
169<div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:26</div></div>
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