1 | /*!
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2 | * \file Ahrs.h
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3 | * \brief Abstract class for AHRS
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4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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5 | * \date 2014/01/14
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6 | * \version 4.0
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7 | */
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8 |
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9 | #ifndef AHRS_H
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10 | #define AHRS_H
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11 |
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12 | #include <IODevice.h>
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13 | #include <DataPlot.h>
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14 |
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15 | namespace flair {
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16 | namespace core {
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17 | class Euler;
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18 | class Vector3D;
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19 | class ImuData;
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20 | class Quaternion;
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21 | class AhrsData;
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22 | }
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23 | namespace gui {
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24 | class Tab;
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25 | class DataPlot1D;
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26 | }
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27 | namespace sensor {
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28 | class Imu;
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29 | }
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30 | }
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31 |
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32 | class Ahrs_impl;
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33 |
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34 | namespace flair { namespace filter {
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35 | /*! \class Ahrs
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36 | *
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37 | * \brief Abstract class for AHRS
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38 | *
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39 | * Use this class to define a custom AHRS. This class is child
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40 | * of an Imu class, which will provide measurements. \n
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41 | *
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42 | */
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43 | class Ahrs : public core::IODevice {
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44 | public:
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45 | /*!
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46 | * \brief Constructor
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47 | *
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48 | * Construct an Ahrs.
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49 | *
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50 | * \param parent parent
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51 | * \param name name
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52 | */
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53 | Ahrs(const sensor::Imu* parent,std::string name);
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54 |
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55 | /*!
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56 | * \brief Destructor
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57 | *
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58 | */
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59 | ~Ahrs();
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60 |
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61 | /*!
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62 | * \brief Get parent Imu
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63 | *
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64 | * This function is identical to (Imu*)Parent()
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65 | */
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66 | const sensor::Imu *GetImu(void) const;
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67 |
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68 | /*!
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69 | * \brief Get ahrs datas
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70 | *
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71 | * \return AhrsData
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72 | */
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73 | const core::AhrsData *GetDatas(void) const;
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74 |
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75 | /*!
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76 | * \brief Lock the graphical user interface
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77 | *
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78 | * When locked, parameters cannot be modified.
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79 | *
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80 | */
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81 | void LockUserInterface(void) const;
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82 |
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83 | /*!
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84 | * \brief Unlock the graphical user interface
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85 | *
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86 | */
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87 | void UnlockUserInterface(void) const;
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88 |
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89 | /*!
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90 | * \brief Use default plot
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91 | *
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92 | * Plot the datas defined in imudata,
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93 | * and datas defined in Imu::imudata.
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94 | *
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95 | */
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96 | void UseDefaultPlot(void);
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97 |
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98 | /*!
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99 | * \brief Add plot
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100 | *
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101 | * Add plot of an AhrsData to the default plot
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102 | *
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103 | * \param ahrsData ahrs datas to plot
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104 | * \param color color to use
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105 | */
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106 | void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);
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107 |
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108 | /*!
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109 | * \brief Roll plot
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110 | *
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111 | * Use this plot to add own curves.
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112 | *
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113 | * \return plot
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114 | *
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115 | */
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116 | gui::DataPlot1D *RollPlot(void)const ;
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117 |
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118 | /*!
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119 | * \brief Pitch plot
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120 | *
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121 | * Use this plot to add own curves.
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122 | *
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123 | * \return plot
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124 | *
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125 | */
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126 | gui::DataPlot1D *PitchPlot(void) const;
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127 |
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128 | /*!
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129 | * \brief Yaw plot
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130 | *
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131 | * Use this plot to add own curves.
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132 | *
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133 | * \return plot
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134 | *
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135 | */
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136 | gui::DataPlot1D *YawPlot(void) const;
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137 |
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138 | /*!
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139 | * \brief Rotation speed around x axis plot
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140 | *
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141 | * Use this plot to add own curves.
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142 | *
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143 | * \return plot
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144 | *
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145 | */
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146 | gui::DataPlot1D *WXPlot(void) const;
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147 |
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148 | /*!
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149 | * \brief Rotation speed around y axis plot
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150 | *
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151 | * Use this plot to add own curves.
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152 | *
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153 | * \return plot
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154 | *
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155 | */
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156 | gui::DataPlot1D *WYPlot(void) const;
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157 |
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158 | /*!
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159 | * \brief Rotation speed around z axis plot
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160 | *
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161 | * Use this plot to add own curves.
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162 | *
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163 | * \return plot
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164 | *
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165 | */
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166 | gui::DataPlot1D *WZPlot(void) const;
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167 |
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168 | protected:
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169 | /*!
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170 | * \brief Get ahrs datas
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171 | *
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172 | * \param ahrsData ahrs datas
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173 | */
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174 | void GetDatas(core::AhrsData **ahrsData) const;
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175 |
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176 | private:
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177 | class Ahrs_impl *pimpl_;
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178 | };
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179 | } // end namespace filter
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180 | } // end namespace flair
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181 | #endif // AHRS_H
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