source: flair-dev/trunk/include/FlairFilter/Gx3_25_ahrs.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 1.4 KB
Line 
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 Gx3_25_ahrs.h
7 * \brief Class for 3dmgx3-25 ahrs
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/01/16
10 * \version 4.0
11 */
12
13#ifndef GX3_25_AHRS_H
14#define GX3_25_AHRS_H
15
16#include <Ahrs.h>
17#include <Gx3_25_imu.h>
18
19namespace flair {
20namespace filter {
21/*! \class Gx3_25_ahrs
22*
23* \brief Class for 3dmgx3-25 ahrs
24*
25* This class constructs a Gx3_25_imu as Imu of this Ahrs.
26*/
27class Gx3_25_ahrs : public Ahrs {
28public:
29  /*!
30  * \brief Constructor
31  *
32  * Construct an Ahrs for 3dmgx3-25
33  *
34  * \param parent parent
35  * \param name name
36  * \param serialport Imu SerialPort
37  * \param command command for the Gx3_25_imu continuous mode
38  * \param priority priority of the Gx3_25_imu Thread
39  */
40  Gx3_25_ahrs(const core::FrameworkManager *parent, std::string name,
41              core::SerialPort *serialport,
42              sensor::Gx3_25_imu::Command_t command, uint8_t priority);
43
44  /*!
45  * \brief Destructor
46  *
47  */
48  ~Gx3_25_ahrs();
49
50  /*!
51  * \brief Start Gx3_25_imu Thread
52  *
53  */
54  void Start(void);
55
56private:
57  /*!
58  * \brief Update using provided datas
59  *
60  * Reimplemented from IODevice.
61  *
62  * \param data data from the parent to process
63  */
64  void UpdateFrom(const core::io_data *data);
65};
66} // end namespace filter
67} // end namespace flair
68#endif // GX3_25_AHRS_H
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