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108<div class="title">SimuImu.h</div> </div>
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110<div class="contents">
111<a href="_simu_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 SIMUIMU_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define SIMUIMU_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>SharedMem;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keyword">class </span>AhrsData;</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>SpinBox;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; }</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;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
132<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">namespace </span>sensor {</div>
133<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_simu_imu.html"> 35</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_simu_imu.html">SimuImu</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>
134<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="keyword">public</span>:</div>
135<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_simu_imu.html#a021162094240f8debbd3cb6d45f3ac7a">SimuImu</a>(std::string name,</div>
136<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; uint32_t modelId,uint32_t deviceId, uint8_t priority);</div>
137<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;</div>
138<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_simu_imu.html#a021162094240f8debbd3cb6d45f3ac7a">SimuImu</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, uint32_t modelId,uint32_t deviceId);</div>
139<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;</div>
140<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_simu_imu.html#a993428f50639a60e8df139f3e23f92bf">~SimuImu</a>();</div>
141<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;</div>
142<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;<span class="keyword">private</span>:</div>
143<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
144<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div>
145<div class="line"><a name="l00086"></a><span class="lineno"> 86</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>
146<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;</div>
147<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; <span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
148<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="keywordtype">float</span> q0;</div>
149<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <span class="keywordtype">float</span> q1;</div>
150<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="keywordtype">float</span> q2;</div>
151<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; <span class="keywordtype">float</span> q3;</div>
152<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <span class="keywordtype">float</span> wx;</div>
153<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <span class="keywordtype">float</span> wy;</div>
154<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <span class="keywordtype">float</span> wz;</div>
155<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <span class="keywordtype">float</span> ax;</div>
156<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordtype">float</span> ay;</div>
157<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="keywordtype">float</span> az;</div>
158<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <span class="keywordtype">float</span> mx;</div>
159<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">float</span> my;</div>
160<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <span class="keywordtype">float</span> mz;</div>
161<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; } imu_states_t;</div>
162<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; </div>
163<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; std::string ShMemName(uint32_t modelId,uint32_t deviceId);</div>
164<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;</div>
165<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; <a class="code" href="classflair_1_1gui_1_1_spin_box.html">gui::SpinBox</a> *dataRate;</div>
166<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; <a class="code" href="classflair_1_1core_1_1_shared_mem.html">core::SharedMem</a> *shmem;</div>
167<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *ahrsData;</div>
168<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160;};</div>
169<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160;} <span class="comment">// end namespace sensor</span></div>
170<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;} <span class="comment">// end namespace flair</span></div>
171<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;<span class="preprocessor">#endif // SIMUIMU_H</span></div>
172<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>
173<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>
174<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>
175<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>
176<div class="ttc" id="classflair_1_1gui_1_1_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_spin_box.html">flair::gui::SpinBox</a></div><div class="ttdoc">Class displaying a QSpinBox on the ground station. </div><div class="ttdef"><b>Definition:</b> SpinBox.h:28</div></div>
177<div class="ttc" id="classflair_1_1sensor_1_1_simu_imu_html_a993428f50639a60e8df139f3e23f92bf"><div class="ttname"><a href="classflair_1_1sensor_1_1_simu_imu.html#a993428f50639a60e8df139f3e23f92bf">flair::sensor::SimuImu::~SimuImu</a></div><div class="ttdeci">~SimuImu()</div><div class="ttdoc">Destructor. </div></div>
178<div class="ttc" id="classflair_1_1core_1_1_ahrs_data_html"><div class="ttname"><a href="classflair_1_1core_1_1_ahrs_data.html">flair::core::AhrsData</a></div><div class="ttdoc">Class defining AHRS datas. </div><div class="ttdef"><b>Definition:</b> AhrsData.h:30</div></div>
179<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>
180<div class="ttc" id="classflair_1_1sensor_1_1_simu_imu_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_simu_imu.html">flair::sensor::SimuImu</a></div><div class="ttdoc">Class for a simulation Imu. </div><div class="ttdef"><b>Definition:</b> SimuImu.h:35</div></div>
181<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>
182<div class="ttc" id="classflair_1_1core_1_1_shared_mem_html"><div class="ttname"><a href="classflair_1_1core_1_1_shared_mem.html">flair::core::SharedMem</a></div><div class="ttdoc">Class defining a shared memory. </div><div class="ttdef"><b>Definition:</b> SharedMem.h:32</div></div>
183<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>
184<div class="ttc" id="classflair_1_1sensor_1_1_simu_imu_html_a021162094240f8debbd3cb6d45f3ac7a"><div class="ttname"><a href="classflair_1_1sensor_1_1_simu_imu.html#a021162094240f8debbd3cb6d45f3ac7a">flair::sensor::SimuImu::SimuImu</a></div><div class="ttdeci">SimuImu(std::string name, uint32_t modelId, uint32_t deviceId, uint8_t priority)</div><div class="ttdoc">Constructor. </div></div>
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