1 | // %flair:license{
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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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4 | // %flair:license}
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5 | /*!
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6 | * \file ImuData.h
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7 | * \brief Class defining IMU datas
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2014/01/15
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10 | * \version 4.0
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11 | */
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12 | #ifndef IMUDATA_H
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13 | #define IMUDATA_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 |
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19 | namespace flair { namespace core {
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20 |
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21 | /*! \class ImuData
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22 | *
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23 | * \brief Class defining IMU datas
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24 | *
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25 | * IMU (inertial measurement unit) datas consist of raw accelerometer values, raw gyrometer values
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26 | * and raw magnetometer values.
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27 | *
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28 | */
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29 | class ImuData: public io_data {
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30 | public:
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31 | class Type: public DataType {
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32 | public:
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33 | Type(ScalarType const &_elementDataType):
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34 | elementDataType(_elementDataType){}
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35 | ScalarType const &GetElementDataType() const {return elementDataType;}
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36 | std::string GetDescription() const {return "imu data";}
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37 | size_t GetSize() const {
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38 | size_t size=0;
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39 | size+=3*elementDataType.GetSize();//RawAcc
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40 | size+=3*elementDataType.GetSize();//RawGyr
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41 | size+=3*elementDataType.GetSize();//RawMag
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42 | return size;
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43 | }
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44 | private:
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45 | ScalarType const &elementDataType;
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46 | };
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47 |
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48 | /*!
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49 | \enum PlotableData_t
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50 | \brief Datas wich can be plotted in a DataPlot1D
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51 | */
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52 | typedef enum {
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53 | RawAx/*! x raw accelerometer */, RawAy/*! y raw accelerometer */ ,RawAz/*! z raw accelerometer */,
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54 | RawGx/*! x raw gyrometer */,RawGy/*! y raw gyrometer */,RawGz/*! z raw gyrometer */,
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55 | RawGxDeg/*! x raw gyrometer degree */,RawGyDeg/*! y raw gyrometer degree */,RawGzDeg/*! z raw gyrometer degree */,
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56 | RawMx/*! x raw magnetometer */,RawMy/*! y raw magnetometer */,RawMz/*! z raw magnetometer */
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57 | } PlotableData_t;
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58 |
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59 | /*!
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60 | * \brief Constructor
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61 | *
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62 | * Construct an io_data representing IMU datas. \n
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63 | *
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64 | * \param parent parent
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65 | * \param name name
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66 | * \param n number of samples
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67 | */
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68 | ImuData(const Object* parent,std::string name="",int n=1);
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69 |
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70 | /*!
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71 | * \brief Destructor
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72 | *
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73 | */
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74 | ~ImuData();
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75 |
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76 | /*!
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77 | * \brief Element
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78 | *
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79 | * Get a pointer to a specific element. This pointer can be used for plotting.
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80 | *
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81 | * \param data_type data type
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82 | *
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83 | * \return pointer to the element
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84 | */
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85 | IODataElement* Element(PlotableData_t data_type) const;
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86 |
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87 | /*!
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88 | * \brief Get raw accelerations
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89 | *
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90 | * This method is mutex protected.
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91 | *
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92 | * \return raw accelerations
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93 | *
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94 | */
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95 | Vector3D GetRawAcc(void) const;
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96 |
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97 | /*!
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98 | * \brief Get raw magnetometers
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99 | *
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100 | * This method is mutex protected.
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101 | *
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102 | * \return raw magnetometers
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103 | *
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104 | */
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105 | Vector3D GetRawMag(void) const;
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106 |
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107 | /*!
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108 | * \brief Get raw angular speed
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109 | *
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110 | * This method is mutex protected.
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111 | *
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112 | * \return raw angular speed
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113 | *
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114 | */
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115 | Vector3D GetRawGyr(void) const;
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116 |
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117 | /*!
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118 | * \brief Get raw accelerations, magnetometers and angular speeds
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119 | *
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120 | * This method is mutex protected.
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121 | *
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122 | * \param rawAcc raw accelerations
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123 | * \param rawMag raw magnetometers
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124 | * \param rawGyr raw angular speeds
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125 | *
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126 | */
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127 | void GetRawAccMagAndGyr(Vector3D &rawAcc,Vector3D &rawMag,Vector3D &rawGyr) const;
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128 |
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129 | /*!
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130 | * \brief Set raw accelerations
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131 | *
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132 | * This method is mutex protected.
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133 | *
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134 | * \param raw accelerations
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135 | *
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136 | */
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137 | void SetRawAcc(const Vector3D &rawAcc);
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138 |
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139 | /*!
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140 | * \brief Set raw magnetometers
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141 | *
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142 | * This method is mutex protected.
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143 | *
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144 | * \param raw magnetometers
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145 | *
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146 | */
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147 | void SetRawMag(const Vector3D &rawMag);
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148 |
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149 | /*!
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150 | * \brief Set raw angular speed
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151 | *
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152 | * This method is mutex protected.
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153 | *
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154 | * \param raw angular speed
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155 | *
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156 | */
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157 | void SetRawGyr(const Vector3D &rawGyr);
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158 |
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159 | /*!
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160 | * \brief Set raw accelerations, magnetometers and angular speeds
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161 | *
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162 | * This method is mutex protected.
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163 | *
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164 | * \param rawAcc raw accelerations
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165 | * \param rawMag raw magnetometers
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166 | * \param rawGyr raw angular speeds
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167 | *
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168 | */
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169 | void SetRawAccMagAndGyr(const Vector3D &rawAcc,const Vector3D &rawMag,const Vector3D &rawGyr);
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170 |
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171 | Type const&GetDataType() const {return dataType;}
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172 | private:
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173 | /*!
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174 | * \brief Copy datas
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175 | *
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176 | * Reimplemented from io_data. \n
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177 | * See io_data::CopyDatas.
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178 | *
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179 | * \param dst destination buffer
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180 | */
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181 | void CopyDatas(char* dst) const;
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182 |
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183 | /*!
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184 | * \brief Raw accelerometer
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185 | *
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186 | */
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187 | Vector3D rawAcc;
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188 |
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189 | /*!
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190 | * \brief Raw gyrometer
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191 | *
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192 | */
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193 | Vector3D rawGyr;
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194 |
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195 | /*!
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196 | * \brief Raw magnetometer
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197 | *
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198 | */
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199 | Vector3D rawMag;
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200 |
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201 | void Queue(char** dst,const void *src,size_t size) const;
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202 | Type dataType;
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203 |
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204 | };
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205 |
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206 | } // end namespace core
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207 | } // end namespace flair
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208 |
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209 | #endif // IMUDATA_H
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