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 { |
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20 | namespace core { |
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21 | |
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22 | /*! \class ImuData |
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23 | * |
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24 | * \brief Class defining IMU datas |
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25 | * |
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26 | * IMU (inertial measurement unit) datas consist of raw accelerometer values, raw |
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27 | *gyrometer values |
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28 | * and raw magnetometer values. |
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29 | * |
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30 | */ |
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31 | class ImuData : public io_data { |
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32 | public: |
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33 | class Type : public DataType { |
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34 | public: |
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35 | Type(ScalarType const &_elementDataType) |
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36 | : elementDataType(_elementDataType) {} |
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37 | ScalarType const &GetElementDataType() const { return elementDataType; } |
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38 | std::string GetDescription() const { return "imu data"; } |
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39 | size_t GetSize() const { |
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40 | size_t size = 0; |
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41 | size += 3 * elementDataType.GetSize(); // RawAcc |
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42 | size += 3 * elementDataType.GetSize(); // RawGyr |
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43 | size += 3 * elementDataType.GetSize(); // RawMag |
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44 | return size; |
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45 | } |
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46 | |
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47 | private: |
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48 | ScalarType const &elementDataType; |
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49 | }; |
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50 | |
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51 | /*! |
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52 | \enum PlotableData_t |
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53 | \brief Datas wich can be plotted in a DataPlot1D |
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54 | */ |
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55 | typedef enum { |
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56 | RawAx /*! x raw accelerometer */, |
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57 | RawAy /*! y raw accelerometer */, |
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58 | RawAz /*! z raw accelerometer */, |
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59 | RawGx /*! x raw gyrometer */, |
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60 | RawGy /*! y raw gyrometer */, |
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61 | RawGz /*! z raw gyrometer */, |
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62 | RawGxDeg /*! x raw gyrometer degree */, |
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63 | RawGyDeg /*! y raw gyrometer degree */, |
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64 | RawGzDeg /*! z raw gyrometer degree */, |
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65 | RawMx /*! x raw magnetometer */, |
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66 | RawMy /*! y raw magnetometer */, |
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67 | RawMz /*! z raw magnetometer */ |
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68 | } PlotableData_t; |
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69 | |
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70 | /*! |
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71 | * \brief Constructor |
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72 | * |
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73 | * Construct an io_data representing IMU datas. \n |
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74 | * |
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75 | * \param parent parent |
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76 | * \param name name |
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77 | * \param n number of samples |
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78 | */ |
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79 | ImuData(const Object *parent, std::string name = "", int n = 1); |
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80 | |
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81 | /*! |
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82 | * \brief Destructor |
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83 | * |
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84 | */ |
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85 | ~ImuData(); |
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86 | |
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87 | /*! |
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88 | * \brief Element |
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89 | * |
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90 | * Get a pointer to a specific element. This pointer can be used for plotting. |
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91 | * |
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92 | * \param data_type data type |
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93 | * |
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94 | * \return pointer to the element |
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95 | */ |
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96 | IODataElement *Element(PlotableData_t data_type) const; |
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97 | |
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98 | /*! |
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99 | * \brief Get raw accelerations |
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100 | * |
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101 | * This method is mutex protected. |
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102 | * |
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103 | * \return raw accelerations |
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104 | * |
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105 | */ |
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106 | Vector3Df GetRawAcc(void) const; |
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107 | |
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108 | /*! |
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109 | * \brief Get raw magnetometers |
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110 | * |
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111 | * This method is mutex protected. |
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112 | * |
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113 | * \return raw magnetometers |
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114 | * |
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115 | */ |
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116 | Vector3Df GetRawMag(void) const; |
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117 | |
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118 | /*! |
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119 | * \brief Get raw angular speed |
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120 | * |
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121 | * This method is mutex protected. |
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122 | * |
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123 | * \return raw angular speed |
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124 | * |
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125 | */ |
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126 | Vector3Df GetRawGyr(void) const; |
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127 | |
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128 | /*! |
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129 | * \brief Get raw accelerations, magnetometers and angular speeds |
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130 | * |
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131 | * This method is mutex protected. |
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132 | * |
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133 | * \param rawAcc raw accelerations |
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134 | * \param rawMag raw magnetometers |
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135 | * \param rawGyr raw angular speeds |
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136 | * |
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137 | */ |
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138 | void GetRawAccMagAndGyr(Vector3Df &rawAcc, Vector3Df &rawMag, |
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139 | Vector3Df &rawGyr) const; |
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140 | |
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141 | /*! |
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142 | * \brief Set raw accelerations |
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143 | * |
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144 | * This method is mutex protected. |
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145 | * |
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146 | * \param raw accelerations |
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147 | * |
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148 | */ |
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149 | void SetRawAcc(const Vector3Df &rawAcc); |
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150 | |
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151 | /*! |
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152 | * \brief Set raw magnetometers |
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153 | * |
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154 | * This method is mutex protected. |
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155 | * |
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156 | * \param raw magnetometers |
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157 | * |
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158 | */ |
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159 | void SetRawMag(const Vector3Df &rawMag); |
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160 | |
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161 | /*! |
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162 | * \brief Set raw angular speed |
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163 | * |
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164 | * This method is mutex protected. |
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165 | * |
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166 | * \param raw angular speed |
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167 | * |
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168 | */ |
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169 | void SetRawGyr(const Vector3Df &rawGyr); |
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170 | |
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171 | /*! |
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172 | * \brief Set raw accelerations, magnetometers and angular speeds |
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173 | * |
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174 | * This method is mutex protected. |
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175 | * |
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176 | * \param rawAcc raw accelerations |
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177 | * \param rawMag raw magnetometers |
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178 | * \param rawGyr raw angular speeds |
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179 | * |
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180 | */ |
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181 | void SetRawAccMagAndGyr(const Vector3Df &rawAcc, const Vector3Df &rawMag, |
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182 | const Vector3Df &rawGyr); |
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183 | |
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184 | Type const &GetDataType() const { return dataType; } |
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185 | |
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186 | private: |
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187 | /*! |
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188 | * \brief Copy datas |
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189 | * |
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190 | * Reimplemented from io_data. \n |
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191 | * See io_data::CopyDatas. |
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192 | * |
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193 | * \param dst destination buffer |
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194 | */ |
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195 | void CopyDatas(char *dst) const; |
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196 | |
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197 | /*! |
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198 | * \brief Raw accelerometer |
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199 | * |
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200 | */ |
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201 | Vector3Df rawAcc; |
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202 | |
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203 | /*! |
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204 | * \brief Raw gyrometer |
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205 | * |
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206 | */ |
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207 | Vector3Df rawGyr; |
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208 | |
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209 | /*! |
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210 | * \brief Raw magnetometer |
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211 | * |
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212 | */ |
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213 | Vector3Df rawMag; |
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214 | |
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215 | void Queue(char **dst, const void *src, size_t size) const; |
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216 | Type dataType; |
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217 | }; |
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218 | |
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219 | } // end namespace core |
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220 | } // end namespace flair |
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221 | |
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222 | #endif // IMUDATA_H |
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