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108<div class="title">Imu.h</div> </div>
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110<div class="contents">
111<a href="_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 IMU_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define 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="_i_o_device_8h.html">IODevice.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;</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>ImuData;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keyword">class </span>OneAxisRotation;</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>Tab;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="keyword">class </span>TabWidget;</div>
129<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keyword">class </span>GroupBox;</div>
130<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keyword">class </span>Layout;</div>
131<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; <span class="keyword">class </span>DataPlot1D;</div>
132<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; }</div>
133<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;}</div>
134<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;</div>
135<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">class </span>Ahrs_impl;</div>
136<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;</div>
137<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
138<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="keyword">namespace </span>sensor {</div>
139<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_imu.html"> 44</a></span>&#160;<span class="keyword">class </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_i_o_device.html">core::IODevice</a> {</div>
140<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="keyword">friend</span> class ::Ahrs_impl;</div>
141<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div>
142<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="keyword">public</span>:</div>
143<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_imu.html#a6d89cc906fe0eeb233aa50bf59f99bb3">Imu</a>(std::string name,<span class="keywordtype">bool</span> needRotation=<span class="keyword">true</span>);</div>
144<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;</div>
145<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_imu.html#a6d89cc906fe0eeb233aa50bf59f99bb3">Imu</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *parent, std::string name);</div>
146<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;</div>
147<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_imu.html#ab01ce2e6b89698b001da63ae8df1722a">~Imu</a>();</div>
148<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
149<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> *<a class="code" href="classflair_1_1sensor_1_1_imu.html#adb1105fe7b1c21234b6edde4d64da428">GetDatas</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
150<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;</div>
151<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;</div>
152<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <a class="code" href="classflair_1_1gui_1_1_layout.html">gui::Layout</a> *<a class="code" href="classflair_1_1sensor_1_1_imu.html#a1d74dd0b750c287b112489786ff5b7eb">GetLayout</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
153<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div>
154<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#aaf94fb4f5ba28e8c471cfefaee673b3d">LockUserInterface</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
155<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;</div>
156<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#a279bf62436c91f0ced11455bff38c269">UnlockUserInterface</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
157<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;</div>
158<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#a81e08d2c2963d05ba8c38792af661527">UseDefaultPlot</a>(<span class="keywordtype">void</span>);</div>
159<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;</div>
160<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *<a class="code" href="classflair_1_1sensor_1_1_imu.html#a0bfa24fb3b089499b33a60ae0162e4ee">GetPlotTab</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
161<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160;</div>
162<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <a class="code" href="classflair_1_1core_1_1_one_axis_rotation.html">core::OneAxisRotation</a> *<a class="code" href="classflair_1_1sensor_1_1_imu.html#ab399f291b7203463dbd1585db8e4b96c">GetOneAxisRotation</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
163<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;</div>
164<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160;</div>
165<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;<span class="keyword">protected</span>:</div>
166<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; <a class="code" href="classflair_1_1gui_1_1_group_box.html">gui::GroupBox</a> *<a class="code" href="classflair_1_1sensor_1_1_imu.html#aa67100f97133a4d1eb4f3a225970eb85">GetGroupBox</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
167<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;</div>
168<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#ad19d0939034366aafe24aceaf41a936f">ApplyRotation</a>(<a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a>&amp; vector);</div>
169<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160; </div>
170<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#ad19d0939034366aafe24aceaf41a936f">ApplyRotation</a>(<a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a>&amp; quaternion);</div>
171<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;</div>
172<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_imu.html#adb1105fe7b1c21234b6edde4d64da428">GetDatas</a>(<a class="code" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> **imuData) <span class="keyword">const</span>;</div>
173<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160;</div>
174<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160;<span class="keyword">private</span>:</div>
175<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *mainTab, *sensorTab, *plotTab;</div>
176<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tab;</div>
177<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; <a class="code" href="classflair_1_1gui_1_1_group_box.html">gui::GroupBox</a> *setupGroupbox;</div>
178<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160; <a class="code" href="classflair_1_1core_1_1_one_axis_rotation.html">core::OneAxisRotation</a> *rotation;</div>
179<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160; <a class="code" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> *imuData;</div>
180<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160;</div>
181<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *axPlot, *ayPlot, *azPlot;</div>
182<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160; <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *gxPlot, *gyPlot, *gzPlot;</div>
183<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> *mxPlot, *myPlot, *mzPlot;</div>
184<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;};</div>
185<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160;} <span class="comment">// end namespace sensor</span></div>
186<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160;} <span class="comment">// end namespace flair</span></div>
187<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160;</div>
188<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160;<span class="preprocessor">#endif // IMU_H</span></div>
189<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_a279bf62436c91f0ced11455bff38c269"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#a279bf62436c91f0ced11455bff38c269">flair::sensor::Imu::UnlockUserInterface</a></div><div class="ttdeci">void UnlockUserInterface(void) const </div><div class="ttdoc">Unlock user interface. </div></div>
190<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:45</div></div>
191<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>
192<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>
193<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_aa67100f97133a4d1eb4f3a225970eb85"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#aa67100f97133a4d1eb4f3a225970eb85">flair::sensor::Imu::GetGroupBox</a></div><div class="ttdeci">gui::GroupBox * GetGroupBox(void) const </div><div class="ttdoc">Setup GroupBox. </div></div>
194<div class="ttc" id="classflair_1_1gui_1_1_group_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_group_box.html">flair::gui::GroupBox</a></div><div class="ttdoc">Class displaying a QGroupBox on the ground station. </div><div class="ttdef"><b>Definition:</b> GroupBox.h:27</div></div>
195<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_ab399f291b7203463dbd1585db8e4b96c"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#ab399f291b7203463dbd1585db8e4b96c">flair::sensor::Imu::GetOneAxisRotation</a></div><div class="ttdeci">core::OneAxisRotation * GetOneAxisRotation(void) const </div><div class="ttdoc">Get OneAxisRotation. </div></div>
196<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_ab01ce2e6b89698b001da63ae8df1722a"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#ab01ce2e6b89698b001da63ae8df1722a">flair::sensor::Imu::~Imu</a></div><div class="ttdeci">~Imu()</div><div class="ttdoc">Destructor. </div></div>
197<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>
198<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_a1d74dd0b750c287b112489786ff5b7eb"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#a1d74dd0b750c287b112489786ff5b7eb">flair::sensor::Imu::GetLayout</a></div><div class="ttdeci">gui::Layout * GetLayout(void) const </div><div class="ttdoc">Setup Layout. </div></div>
199<div class="ttc" id="classflair_1_1core_1_1_one_axis_rotation_html"><div class="ttname"><a href="classflair_1_1core_1_1_one_axis_rotation.html">flair::core::OneAxisRotation</a></div><div class="ttdoc">Class defining a rotation around one axis. </div><div class="ttdef"><b>Definition:</b> OneAxisRotation.h:38</div></div>
200<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_a81e08d2c2963d05ba8c38792af661527"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#a81e08d2c2963d05ba8c38792af661527">flair::sensor::Imu::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(void)</div><div class="ttdoc">Use default plot. </div></div>
201<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>
202<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
203<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_aaf94fb4f5ba28e8c471cfefaee673b3d"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#aaf94fb4f5ba28e8c471cfefaee673b3d">flair::sensor::Imu::LockUserInterface</a></div><div class="ttdeci">void LockUserInterface(void) const </div><div class="ttdoc">Lock user interface. </div></div>
204<div class="ttc" id="classflair_1_1gui_1_1_layout_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout.html">flair::gui::Layout</a></div><div class="ttdoc">Abstract class to display a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> Layout.h:33</div></div>
205<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_a0bfa24fb3b089499b33a60ae0162e4ee"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#a0bfa24fb3b089499b33a60ae0162e4ee">flair::sensor::Imu::GetPlotTab</a></div><div class="ttdeci">gui::Tab * GetPlotTab(void) const </div><div class="ttdoc">Plot tab. </div></div>
206<div class="ttc" id="classflair_1_1gui_1_1_tab_widget_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab_widget.html">flair::gui::TabWidget</a></div><div class="ttdoc">Class displaying a QTabWidget on the ground station. </div><div class="ttdef"><b>Definition:</b> TabWidget.h:29</div></div>
207<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_ad19d0939034366aafe24aceaf41a936f"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#ad19d0939034366aafe24aceaf41a936f">flair::sensor::Imu::ApplyRotation</a></div><div class="ttdeci">void ApplyRotation(core::Vector3Df &amp;vector)</div><div class="ttdoc">ApplyRotation. </div></div>
208<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_a6d89cc906fe0eeb233aa50bf59f99bb3"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#a6d89cc906fe0eeb233aa50bf59f99bb3">flair::sensor::Imu::Imu</a></div><div class="ttdeci">Imu(std::string name, bool needRotation=true)</div><div class="ttdoc">Constructor. </div></div>
209<div class="ttc" id="classflair_1_1sensor_1_1_imu_html_adb1105fe7b1c21234b6edde4d64da428"><div class="ttname"><a href="classflair_1_1sensor_1_1_imu.html#adb1105fe7b1c21234b6edde4d64da428">flair::sensor::Imu::GetDatas</a></div><div class="ttdeci">const core::ImuData * GetDatas(void) const </div><div class="ttdoc">Get IMU datas. </div></div>
210<div class="ttc" id="classflair_1_1gui_1_1_data_plot1_d_html"><div class="ttname"><a href="classflair_1_1gui_1_1_data_plot1_d.html">flair::gui::DataPlot1D</a></div><div class="ttdoc">Class displaying a 1D plot on the ground station. </div><div class="ttdef"><b>Definition:</b> DataPlot1D.h:33</div></div>
211<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>
212<div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
213<div class="ttc" id="classflair_1_1core_1_1_imu_data_html"><div class="ttname"><a href="classflair_1_1core_1_1_imu_data.html">flair::core::ImuData</a></div><div class="ttdoc">Class defining IMU datas. </div><div class="ttdef"><b>Definition:</b> ImuData.h:31</div></div>
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