source: flair-dev/trunk/include/FlairCore/AhrsData.h@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file AhrsData.h
 * \brief Class defining AHRS datas
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2016/03/01
 * \version 4.0
 */
#ifndef AHRSDATA_H
#define AHRSDATA_H

#include <io_data.h>
#include <IODataElement.h>
#include <Vector3D.h>
#include <Quaternion.h>

namespace flair { namespace core {

    /*! \class AhrsData
    *
    * \brief Class defining AHRS datas
    *
    * AHRS datas consist of quaternion and rotational angles values. \n
    *
    */
    class AhrsData: public io_data {
        public:
            class Type: public DataType {
            public:
                Type(const ScalarType &inElementDataType):
                    elementDataType(inElementDataType) {}
                const ScalarType  &GetElementDataType() const {return elementDataType;}
                std::string GetDescription() const {return "ahrs data";}
                size_t GetSize() const {
                    return 7*elementDataType.GetSize();
                }
            private:
                const ScalarType &elementDataType;
            };

            /*!
            \enum PlotableData_t
            \brief Datas wich can be plotted in a DataPlot1D
            */
            typedef enum {
                Roll/*! roll */, Pitch/*! pitch */, Yaw/*! yaw */,
                RollDeg/*! roll degree*/, PitchDeg/*! pitch degree */, YawDeg/*! yaw degree */,
                Q0/*! quaternion 0 */, Q1/*! quaternion 1 */, Q2/*! quaternion 2 */, Q3/*! quaternion 3 */,
                Wx/*! x filtered angular rate */, Wy/*! y filtered angular rate */, Wz/*! z filtered angular rate */,
                WxDeg/*! x filtered angular rate degree*/, WyDeg/*! y filtered angular rate degree*/, WzDeg/*! z filtered angular rate degree*/,
                } PlotableData_t;

            /*!
            * \brief Constructor
            *
            * Construct an io_data representing AHRS datas. \n
            *
            * \param parent parent
            * \param name name
            * \param n number of samples
            */
            AhrsData(const Object* parent,std::string name="",int n=1);

            /*!
            * \brief Destructor
            *
            */
            ~AhrsData();

            /*!
            * \brief Element
            *
            * Get a pointer to a specific element. This pointer can be used for plotting.
            *
            * \param plotableData data type
            *
            * \return pointer to the element
            */
            IODataElement *Element(PlotableData_t plotableData) const;

            /*!
            * \brief Set quaternion
            *
            * This method is mutex protected.
            *
            * \param quaternion quaternion
            *
            */
            void SetQuaternion(const Quaternion &quaternion);

            /*!
            * \brief Get quaternion
            *
            * This method is mutex protected.
            *
            * \return quaternion
            *
            */
            Quaternion GetQuaternion(void) const;

            /*!
            * \brief Set angular rates
            *
            * This method is mutex protected.
            *
            * \param angularRates angular rates
            *
            */
            void SetAngularRates(const Vector3D &angularRates);

            /*!
            * \brief Get angular rates
            *
            * This method is mutex protected.
            *
            * \return angular rates
            *
            */
            Vector3D GetAngularRates(void) const;

            /*!
            * \brief Get both quaternion and angular rates
            *
            * This method is mutex protected.
            *
            * \param quaternion quaternion
            * \param angularRates angular rates
            *
            */
            void GetQuaternionAndAngularRates(Quaternion &quaternion,Vector3D &angularRates) const;

            /*!
            * \brief Set both quaternion and angular rates
            *
            * This method is mutex protected.
            *
            * \param quaternion quaternion
            * \param angularRates angular rates
            *
            */
            void SetQuaternionAndAngularRates(const Quaternion &quaternion,const Vector3D &angularRates);

            const Type &GetDataType() const {return dataType;}
        private:
            /*!
            * \brief Copy datas
            *
            * Reimplemented from io_data. \n
            * See io_data::CopyDatas.
            *
            * \param dst destination buffer
            */
            void CopyDatas(char *dst) const;

            void Queue(char **dst,const void *src,size_t size) const;

            /*!
            * \brief %Quaternion
            *
            */
            Quaternion quaternion;

            /*!
            * \brief Angular rates
            *
            */
            Vector3D angularRates;

            Type dataType;
    };

} // end namespace core
} // end namespace flair

#endif // AHRSDATA_H