| 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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