source: flair-dev/trunk/include/FlairFilter/Ahrs.h @ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Ahrs.h
 * \brief Abstract class for AHRS
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/01/14
 * \version 4.0
 */

#ifndef AHRS_H
#define AHRS_H

#include <IODevice.h>
#include <DataPlot.h>

namespace flair {
    namespace core {
        class Euler;
        class Vector3D;
        class ImuData;
        class Quaternion;
        class AhrsData;
    }
    namespace gui {
        class Tab;
        class DataPlot1D;
    }
    namespace sensor {
        class Imu;
    }
}

class Ahrs_impl;

namespace flair { namespace filter {
    /*! \class Ahrs
    *
    * \brief Abstract class for AHRS
    *
    * Use this class to define a custom AHRS. This class is child
    * of an Imu class, which will provide measurements. \n
    *
    */
    class Ahrs : public core::IODevice {
        public:
            /*!
            * \brief Constructor
            *
            * Construct an Ahrs.
            *
            * \param parent parent
            * \param name name
            */
            Ahrs(const sensor::Imu* parent,std::string name);

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

            /*!
            * \brief Get parent Imu
            *
            * This function is identical to (Imu*)Parent()
            */
            const sensor::Imu *GetImu(void) const;

            /*!
            * \brief Get ahrs datas
            *
            * \return AhrsData
            */
            const core::AhrsData *GetDatas(void) const;

            /*!
            * \brief Lock the graphical user interface
            *
            * When locked, parameters cannot be modified.
            *
            */
            void LockUserInterface(void) const;

            /*!
            * \brief Unlock the graphical user interface
            *
            */
            void UnlockUserInterface(void) const;

            /*!
            * \brief Use default plot
            *
            * Plot the datas defined in imudata,
            * and datas defined in Imu::imudata.
            *
            */
            void UseDefaultPlot(void);

            /*!
            * \brief Add plot
            *
            * Add plot of an AhrsData to the default plot
            *
            * \param ahrsData ahrs datas to plot
            * \param color color to use
            */
            void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);

            /*!
            * \brief Roll plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *RollPlot(void)const ;

            /*!
            * \brief Pitch plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *PitchPlot(void) const;

            /*!
            * \brief Yaw plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *YawPlot(void) const;

            /*!
            * \brief Rotation speed around x axis plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *WXPlot(void) const;

            /*!
            * \brief Rotation speed around y axis plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *WYPlot(void) const;

            /*!
            * \brief Rotation speed around z axis plot
            *
            * Use this plot to add own curves.
            *
            * \return plot
            *
            */
            gui::DataPlot1D *WZPlot(void) const;

        protected:
            /*!
            * \brief Get ahrs datas
            *
            * \param ahrsData ahrs datas
            */
            void GetDatas(core::AhrsData **ahrsData) const;

        private:
            class Ahrs_impl *pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // AHRS_H