[2] | 1 | // %flair:license{
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[13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file AhrsData.h
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| 7 | * \brief Class defining AHRS datas
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2016/03/01
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| 10 | * \version 4.0
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| 11 | */
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| 12 | #ifndef AHRSDATA_H
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| 13 | #define AHRSDATA_H
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| 14 |
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| 15 | #include <io_data.h>
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| 16 | #include <IODataElement.h>
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| 17 | #include <Vector3D.h>
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| 18 | #include <Quaternion.h>
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| 19 |
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[13] | 20 | namespace flair {
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| 21 | namespace core {
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[2] | 22 |
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[13] | 23 | /*! \class AhrsData
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| 24 | *
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| 25 | * \brief Class defining AHRS datas
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| 26 | *
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| 27 | * AHRS datas consist of quaternion and rotational angles values. \n
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| 28 | *
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| 29 | */
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| 30 | class AhrsData : public io_data {
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| 31 | public:
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| 32 | class Type : public DataType {
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| 33 | public:
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| 34 | Type(const ScalarType &inElementDataType)
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| 35 | : elementDataType(inElementDataType) {}
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| 36 | const ScalarType &GetElementDataType() const { return elementDataType; }
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| 37 | std::string GetDescription() const { return "ahrs data"; }
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| 38 | size_t GetSize() const { return 7 * elementDataType.GetSize(); }
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[2] | 39 |
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[13] | 40 | private:
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| 41 | const ScalarType &elementDataType;
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| 42 | };
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[2] | 43 |
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[13] | 44 | /*!
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| 45 | \enum PlotableData_t
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| 46 | \brief Datas wich can be plotted in a DataPlot1D
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| 47 | */
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| 48 | typedef enum {
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| 49 | Roll /*! roll */,
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| 50 | Pitch /*! pitch */,
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| 51 | Yaw /*! yaw */,
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| 52 | RollDeg /*! roll degree*/,
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| 53 | PitchDeg /*! pitch degree */,
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| 54 | YawDeg /*! yaw degree */,
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| 55 | Q0 /*! quaternion 0 */,
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| 56 | Q1 /*! quaternion 1 */,
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| 57 | Q2 /*! quaternion 2 */,
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| 58 | Q3 /*! quaternion 3 */,
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| 59 | Wx /*! x filtered angular rate */,
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| 60 | Wy /*! y filtered angular rate */,
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| 61 | Wz /*! z filtered angular rate */,
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| 62 | WxDeg /*! x filtered angular rate degree*/,
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| 63 | WyDeg /*! y filtered angular rate degree*/,
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| 64 | WzDeg /*! z filtered angular rate degree*/,
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| 65 | } PlotableData_t;
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[2] | 66 |
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[13] | 67 | /*!
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| 68 | * \brief Constructor
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| 69 | *
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| 70 | * Construct an io_data representing AHRS datas. \n
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| 71 | *
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| 72 | * \param parent parent
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| 73 | * \param name name
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| 74 | * \param n number of samples
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| 75 | */
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| 76 | AhrsData(const Object *parent, std::string name = "", int n = 1);
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[2] | 77 |
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[13] | 78 | /*!
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| 79 | * \brief Destructor
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| 80 | *
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| 81 | */
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| 82 | ~AhrsData();
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[2] | 83 |
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[13] | 84 | /*!
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| 85 | * \brief Element
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| 86 | *
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| 87 | * Get a pointer to a specific element. This pointer can be used for plotting.
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| 88 | *
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| 89 | * \param plotableData data type
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| 90 | *
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| 91 | * \return pointer to the element
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| 92 | */
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| 93 | IODataElement *Element(PlotableData_t plotableData) const;
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[2] | 94 |
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[13] | 95 | /*!
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| 96 | * \brief Set quaternion
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| 97 | *
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| 98 | * This method is mutex protected.
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| 99 | *
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| 100 | * \param quaternion quaternion
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| 101 | *
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| 102 | */
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| 103 | void SetQuaternion(const Quaternion &quaternion);
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[2] | 104 |
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[13] | 105 | /*!
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| 106 | * \brief Get quaternion
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| 107 | *
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| 108 | * This method is mutex protected.
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| 109 | *
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| 110 | * \return quaternion
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| 111 | *
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| 112 | */
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| 113 | Quaternion GetQuaternion(void) const;
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[2] | 114 |
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[13] | 115 | /*!
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| 116 | * \brief Set angular rates
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| 117 | *
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| 118 | * This method is mutex protected.
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| 119 | *
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| 120 | * \param angularRates angular rates
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| 121 | *
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| 122 | */
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[50] | 123 | void SetAngularRates(const Vector3Df &angularRates);
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[2] | 124 |
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[13] | 125 | /*!
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| 126 | * \brief Get angular rates
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| 127 | *
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| 128 | * This method is mutex protected.
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| 129 | *
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| 130 | * \return angular rates
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| 131 | *
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| 132 | */
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[50] | 133 | Vector3Df GetAngularRates(void) const;
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[2] | 134 |
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[13] | 135 | /*!
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| 136 | * \brief Get both quaternion and angular rates
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| 137 | *
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| 138 | * This method is mutex protected.
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| 139 | *
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| 140 | * \param quaternion quaternion
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| 141 | * \param angularRates angular rates
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| 142 | *
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| 143 | */
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| 144 | void GetQuaternionAndAngularRates(Quaternion &quaternion,
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[50] | 145 | Vector3Df &angularRates) const;
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[2] | 146 |
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[13] | 147 | /*!
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| 148 | * \brief Set both quaternion and angular rates
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| 149 | *
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| 150 | * This method is mutex protected.
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| 151 | *
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| 152 | * \param quaternion quaternion
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| 153 | * \param angularRates angular rates
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| 154 | *
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| 155 | */
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| 156 | void SetQuaternionAndAngularRates(const Quaternion &quaternion,
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[50] | 157 | const Vector3Df &angularRates);
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[2] | 158 |
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[13] | 159 | const Type &GetDataType() const { return dataType; }
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[2] | 160 |
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[13] | 161 | private:
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| 162 | /*!
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| 163 | * \brief Copy datas
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| 164 | *
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| 165 | * Reimplemented from io_data. \n
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| 166 | * See io_data::CopyDatas.
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| 167 | *
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| 168 | * \param dst destination buffer
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| 169 | */
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| 170 | void CopyDatas(char *dst) const;
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[2] | 171 |
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[13] | 172 | void Queue(char **dst, const void *src, size_t size) const;
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[2] | 173 |
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[13] | 174 | /*!
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| 175 | * \brief %Quaternion
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| 176 | *
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| 177 | */
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| 178 | Quaternion quaternion;
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[2] | 179 |
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[13] | 180 | /*!
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| 181 | * \brief Angular rates
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| 182 | *
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| 183 | */
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[50] | 184 | Vector3Df angularRates;
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[13] | 185 |
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| 186 | Type dataType;
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| 187 | };
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| 188 |
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[2] | 189 | } // end namespace core
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| 190 | } // end namespace flair
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| 191 |
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| 192 | #endif // AHRSDATA_H
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