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1 | /*! |
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2 | * \file Gx3_25_ahrs.h |
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3 | * \brief Class for 3dmgx3-25 ahrs |
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4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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5 | * \date 2013/01/16 |
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6 | * \version 4.0 |
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7 | */ |
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8 | |
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9 | #ifndef GX3_25_AHRS_H |
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10 | #define GX3_25_AHRS_H |
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11 | |
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12 | #include <Ahrs.h> |
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13 | #include <Gx3_25_imu.h> |
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14 | |
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15 | namespace flair |
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16 | { |
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17 | namespace filter |
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18 | { |
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19 | /*! \class Gx3_25_ahrs |
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20 | * |
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21 | * \brief Class for 3dmgx3-25 ahrs |
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22 | * |
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23 | * This class constructs a Gx3_25_imu as Imu of this Ahrs. |
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24 | */ |
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25 | class Gx3_25_ahrs : public Ahrs |
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26 | { |
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27 | public: |
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28 | /*! |
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29 | * \brief Constructor |
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30 | * |
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31 | * Construct an Ahrs for 3dmgx3-25 |
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32 | * |
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33 | * \param parent parent |
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34 | * \param name name |
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35 | * \param serialport Imu SerialPort |
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36 | * \param command command for the Gx3_25_imu continuous mode |
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37 | * \param priority priority of the Gx3_25_imu Thread |
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38 | */ |
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39 | Gx3_25_ahrs(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,sensor::Gx3_25_imu::Command_t command,uint8_t priority); |
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40 | |
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41 | /*! |
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42 | * \brief Destructor |
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43 | * |
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44 | */ |
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45 | ~Gx3_25_ahrs(); |
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46 | |
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47 | /*! |
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48 | * \brief Start Gx3_25_imu Thread |
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49 | * |
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50 | */ |
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51 | void Start(void); |
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52 | |
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53 | private: |
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54 | /*! |
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55 | * \brief Update using provided datas |
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56 | * |
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57 | * Reimplemented from IODevice. |
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58 | * |
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59 | * \param data data from the parent to process |
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60 | */ |
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61 | void UpdateFrom(const core::io_data *data); |
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62 | }; |
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63 | } // end namespace filter |
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64 | } // end namespace flair |
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65 | #endif // GX3_25_AHRS_H |
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