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108<div class="title">Gx3_25_imu.h</div> </div>
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110<div class="contents">
111<a href="_gx3__25__imu_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 GX3_25_IMU_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define GX3_25_IMU_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="_imu_8h.html">Imu.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="_thread_8h.html">Thread.h</a>&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div>
121<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
122<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="keyword">namespace </span>core {</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">class </span>FrameworkManager;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">class </span>SerialPort;</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;}</div>
127<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">class </span>Gx3_25_imu_impl;</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;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
131<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="keyword">namespace </span>sensor {</div>
132<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_gx3__25__imu.html"> 34</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html">Gx3_25_imu</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html">Imu</a>, <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_thread.html">core::Thread</a> {</div>
133<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="keyword">friend</span> class ::Gx3_25_imu_impl;</div>
134<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;</div>
135<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="keyword">public</span>:</div>
136<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656"> 42</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656">Command_t</a> {</div>
137<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a940a0eb57552334d5f63d1e43bc97e51"> 43</a></span>&#160; <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a940a0eb57552334d5f63d1e43bc97e51">EulerAnglesAndAngularRates</a> = 0xcf, </div>
138<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a813c8f250326629ec8b4b7a6aced0050"> 44</a></span>&#160; <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a813c8f250326629ec8b4b7a6aced0050">AccelerationAngularRateAndOrientationMatrix</a> =</div>
139<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; 0xc8, </div>
140<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a3d9784015eecca0b5df06207f9c299f4"> 46</a></span>&#160; <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a3d9784015eecca0b5df06207f9c299f4">Quaternion</a> = 0xdf, </div>
141<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; };</div>
142<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;</div>
143<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#adcc852b346d46e2f1b73232015e930d0">Gx3_25_imu</a>(std::string name,</div>
144<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <a class="code" href="classflair_1_1core_1_1_serial_port.html">core::SerialPort</a> *serialport, <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656">Command_t</a> command, uint8_t priority);</div>
145<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;</div>
146<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_gx3__25__imu.html#a846b96f161fe99d588b2d3b4d7a98bee">~Gx3_25_imu</a>();</div>
147<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;</div>
148<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;<span class="keyword">private</span>:</div>
149<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
150<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;</div>
151<div class="line"><a name="l00084"></a><span class="lineno"> 84</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>
152<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;</div>
153<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keyword">class </span>Gx3_25_imu_impl *pimpl_;</div>
154<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;};</div>
155<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;} <span class="comment">// end namespace sensor</span></div>
156<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160;} <span class="comment">// end namespace flair</span></div>
157<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div>
158<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;<span class="preprocessor">#endif // GX3_25_IMU_H</span></div>
159<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>
160<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_a4d9ad20e915c47b02073f9c251093656"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656">flair::sensor::Gx3_25_imu::Command_t</a></div><div class="ttdeci">Command_t</div><div class="ttdoc">Command for the continuous mode. </div><div class="ttdef"><b>Definition:</b> Gx3_25_imu.h:42</div></div>
161<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>
162<div class="ttc" id="_imu_8h_html"><div class="ttname"><a href="_imu_8h.html">Imu.h</a></div><div class="ttdoc">Base class for Imu. </div></div>
163<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_a4d9ad20e915c47b02073f9c251093656a813c8f250326629ec8b4b7a6aced0050"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a813c8f250326629ec8b4b7a6aced0050">flair::sensor::Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix</a></div><div class="ttdef"><b>Definition:</b> Gx3_25_imu.h:44</div></div>
164<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_adcc852b346d46e2f1b73232015e930d0"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#adcc852b346d46e2f1b73232015e930d0">flair::sensor::Gx3_25_imu::Gx3_25_imu</a></div><div class="ttdeci">Gx3_25_imu(std::string name, core::SerialPort *serialport, Command_t command, uint8_t priority)</div><div class="ttdoc">Constructor. </div></div>
165<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>
166<div class="ttc" id="classflair_1_1core_1_1_serial_port_html"><div class="ttname"><a href="classflair_1_1core_1_1_serial_port.html">flair::core::SerialPort</a></div><div class="ttdoc">Base class for serial port. </div><div class="ttdef"><b>Definition:</b> SerialPort.h:25</div></div>
167<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_a4d9ad20e915c47b02073f9c251093656a940a0eb57552334d5f63d1e43bc97e51"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a940a0eb57552334d5f63d1e43bc97e51">flair::sensor::Gx3_25_imu::EulerAnglesAndAngularRates</a></div><div class="ttdef"><b>Definition:</b> Gx3_25_imu.h:43</div></div>
168<div class="ttc" id="_thread_8h_html"><div class="ttname"><a href="_thread_8h.html">Thread.h</a></div><div class="ttdoc">Abstract class for a thread. </div></div>
169<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_a846b96f161fe99d588b2d3b4d7a98bee"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#a846b96f161fe99d588b2d3b4d7a98bee">flair::sensor::Gx3_25_imu::~Gx3_25_imu</a></div><div class="ttdeci">~Gx3_25_imu()</div><div class="ttdoc">Destructor. </div></div>
170<div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
171<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html">flair::sensor::Gx3_25_imu</a></div><div class="ttdoc">Class for 3dmgx3-25 Imu. </div><div class="ttdef"><b>Definition:</b> Gx3_25_imu.h:34</div></div>
172<div class="ttc" id="classflair_1_1sensor_1_1_gx3__25__imu_html_a4d9ad20e915c47b02073f9c251093656a3d9784015eecca0b5df06207f9c299f4"><div class="ttname"><a href="classflair_1_1sensor_1_1_gx3__25__imu.html#a4d9ad20e915c47b02073f9c251093656a3d9784015eecca0b5df06207f9c299f4">flair::sensor::Gx3_25_imu::Quaternion</a></div><div class="ttdef"><b>Definition:</b> Gx3_25_imu.h:46</div></div>
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