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[14] | 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 AhrsKalman.h
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| 7 | * \brief Class defining an Ahrs Kalman filter
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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 |
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| 13 | #ifndef AHRSKALMAN_H
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| 14 | #define AHRSKALMAN_H
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| 15 |
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| 16 | #include <Ahrs.h>
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| 17 |
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| 18 | namespace flair
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| 19 | {
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| 20 | namespace sensor
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| 21 | {
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| 22 | class Imu;
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| 23 | }
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| 24 | }
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| 25 |
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| 26 | class AhrsKalman_impl;
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| 27 |
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| 28 | namespace flair
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| 29 | {
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| 30 | namespace filter
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| 31 | {
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| 32 | /*! \class AhrsKalman
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| 33 | *
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| 34 | * \brief Class defining an Ahrs Kalman filter
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| 35 | */
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| 36 | class AhrsKalman : public Ahrs
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| 37 | {
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| 38 | public:
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| 39 | /*!
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| 40 | * \brief Constructor
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| 41 | *
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| 42 | * Construct an AhrsKalman.
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| 43 | *
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| 44 | * \param parent parent
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| 45 | * \param name name
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| 46 | */
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| 47 | AhrsKalman(const sensor::Imu* parent,std::string name);
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| 48 |
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| 49 | /*!
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| 50 | * \brief Destructor
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| 51 | *
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| 52 | */
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| 53 | ~AhrsKalman();
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| 54 |
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| 55 | private:
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| 56 | /*!
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| 57 | * \brief Update using provided datas
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| 58 | *
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| 59 | * Reimplemented from IODevice.
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| 60 | *
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| 61 | * \param data data from the parent to process
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| 62 | */
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| 63 | void UpdateFrom(const core::io_data *data);
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| 64 | AhrsKalman_impl* pimpl_;
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| 65 | };
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| 66 | } // end namespace filter
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| 67 | } // end namespace flair
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| 68 | #endif // AHRSKALMAN_H
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