1 | // %flair:license{
|
---|
2 | // This file is part of the Flair framework distributed under the
|
---|
3 | // CECILL-C License, Version 1.0.
|
---|
4 | // %flair:license}
|
---|
5 | /*!
|
---|
6 | * \file Ahrs.h
|
---|
7 | * \brief Abstract class for AHRS
|
---|
8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
9 | * \date 2014/01/14
|
---|
10 | * \version 4.0
|
---|
11 | */
|
---|
12 |
|
---|
13 | #ifndef AHRS_H
|
---|
14 | #define AHRS_H
|
---|
15 |
|
---|
16 | #include <IODevice.h>
|
---|
17 | #include <DataPlot.h>
|
---|
18 |
|
---|
19 | namespace flair {
|
---|
20 | namespace core {
|
---|
21 | class Euler;
|
---|
22 | class Vector3D;
|
---|
23 | class ImuData;
|
---|
24 | class Quaternion;
|
---|
25 | class AhrsData;
|
---|
26 | }
|
---|
27 | namespace gui {
|
---|
28 | class Tab;
|
---|
29 | class DataPlot1D;
|
---|
30 | }
|
---|
31 | namespace sensor {
|
---|
32 | class Imu;
|
---|
33 | }
|
---|
34 | }
|
---|
35 |
|
---|
36 | class Ahrs_impl;
|
---|
37 |
|
---|
38 | namespace flair { namespace filter {
|
---|
39 | /*! \class Ahrs
|
---|
40 | *
|
---|
41 | * \brief Abstract class for AHRS
|
---|
42 | *
|
---|
43 | * Use this class to define a custom AHRS. This class is child
|
---|
44 | * of an Imu class, which will provide measurements. \n
|
---|
45 | *
|
---|
46 | */
|
---|
47 | class Ahrs : public core::IODevice {
|
---|
48 | public:
|
---|
49 | /*!
|
---|
50 | * \brief Constructor
|
---|
51 | *
|
---|
52 | * Construct an Ahrs.
|
---|
53 | *
|
---|
54 | * \param parent parent
|
---|
55 | * \param name name
|
---|
56 | */
|
---|
57 | Ahrs(const sensor::Imu* parent,std::string name);
|
---|
58 |
|
---|
59 | /*!
|
---|
60 | * \brief Destructor
|
---|
61 | *
|
---|
62 | */
|
---|
63 | ~Ahrs();
|
---|
64 |
|
---|
65 | /*!
|
---|
66 | * \brief Get parent Imu
|
---|
67 | *
|
---|
68 | * This function is identical to (Imu*)Parent()
|
---|
69 | */
|
---|
70 | const sensor::Imu *GetImu(void) const;
|
---|
71 |
|
---|
72 | /*!
|
---|
73 | * \brief Get ahrs datas
|
---|
74 | *
|
---|
75 | * \return AhrsData
|
---|
76 | */
|
---|
77 | const core::AhrsData *GetDatas(void) const;
|
---|
78 |
|
---|
79 | /*!
|
---|
80 | * \brief Lock the graphical user interface
|
---|
81 | *
|
---|
82 | * When locked, parameters cannot be modified.
|
---|
83 | *
|
---|
84 | */
|
---|
85 | void LockUserInterface(void) const;
|
---|
86 |
|
---|
87 | /*!
|
---|
88 | * \brief Unlock the graphical user interface
|
---|
89 | *
|
---|
90 | */
|
---|
91 | void UnlockUserInterface(void) const;
|
---|
92 |
|
---|
93 | /*!
|
---|
94 | * \brief Use default plot
|
---|
95 | *
|
---|
96 | * Plot the datas defined in imudata,
|
---|
97 | * and datas defined in Imu::imudata.
|
---|
98 | *
|
---|
99 | */
|
---|
100 | void UseDefaultPlot(void);
|
---|
101 |
|
---|
102 | /*!
|
---|
103 | * \brief Add plot
|
---|
104 | *
|
---|
105 | * Add plot of an AhrsData to the default plot
|
---|
106 | *
|
---|
107 | * \param ahrsData ahrs datas to plot
|
---|
108 | * \param color color to use
|
---|
109 | */
|
---|
110 | void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);
|
---|
111 |
|
---|
112 | /*!
|
---|
113 | * \brief Roll plot
|
---|
114 | *
|
---|
115 | * Use this plot to add own curves.
|
---|
116 | *
|
---|
117 | * \return plot
|
---|
118 | *
|
---|
119 | */
|
---|
120 | gui::DataPlot1D *RollPlot(void)const ;
|
---|
121 |
|
---|
122 | /*!
|
---|
123 | * \brief Pitch plot
|
---|
124 | *
|
---|
125 | * Use this plot to add own curves.
|
---|
126 | *
|
---|
127 | * \return plot
|
---|
128 | *
|
---|
129 | */
|
---|
130 | gui::DataPlot1D *PitchPlot(void) const;
|
---|
131 |
|
---|
132 | /*!
|
---|
133 | * \brief Yaw plot
|
---|
134 | *
|
---|
135 | * Use this plot to add own curves.
|
---|
136 | *
|
---|
137 | * \return plot
|
---|
138 | *
|
---|
139 | */
|
---|
140 | gui::DataPlot1D *YawPlot(void) const;
|
---|
141 |
|
---|
142 | /*!
|
---|
143 | * \brief Rotation speed around x axis plot
|
---|
144 | *
|
---|
145 | * Use this plot to add own curves.
|
---|
146 | *
|
---|
147 | * \return plot
|
---|
148 | *
|
---|
149 | */
|
---|
150 | gui::DataPlot1D *WXPlot(void) const;
|
---|
151 |
|
---|
152 | /*!
|
---|
153 | * \brief Rotation speed around y axis plot
|
---|
154 | *
|
---|
155 | * Use this plot to add own curves.
|
---|
156 | *
|
---|
157 | * \return plot
|
---|
158 | *
|
---|
159 | */
|
---|
160 | gui::DataPlot1D *WYPlot(void) const;
|
---|
161 |
|
---|
162 | /*!
|
---|
163 | * \brief Rotation speed around z axis plot
|
---|
164 | *
|
---|
165 | * Use this plot to add own curves.
|
---|
166 | *
|
---|
167 | * \return plot
|
---|
168 | *
|
---|
169 | */
|
---|
170 | gui::DataPlot1D *WZPlot(void) const;
|
---|
171 |
|
---|
172 | protected:
|
---|
173 | /*!
|
---|
174 | * \brief Get ahrs datas
|
---|
175 | *
|
---|
176 | * \param ahrsData ahrs datas
|
---|
177 | */
|
---|
178 | void GetDatas(core::AhrsData **ahrsData) const;
|
---|
179 |
|
---|
180 | private:
|
---|
181 | class Ahrs_impl *pimpl_;
|
---|
182 | };
|
---|
183 | } // end namespace filter
|
---|
184 | } // end namespace flair
|
---|
185 | #endif // AHRS_H
|
---|