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 Gx3_25_imu.h |
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7 | * \brief Class for 3dmgx3-25 Imu |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2011/08/19 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef GX3_25_IMU_H |
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14 | #define GX3_25_IMU_H |
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15 | |
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16 | #include <Imu.h> |
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17 | #include <Thread.h> |
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18 | |
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19 | namespace flair { |
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20 | namespace core { |
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21 | class FrameworkManager; |
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22 | class SerialPort; |
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23 | } |
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24 | } |
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25 | |
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26 | class Gx3_25_imu_impl; |
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27 | |
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28 | namespace flair { namespace sensor { |
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29 | /*! \class Gx3_25_imu |
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30 | * |
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31 | * \brief Class for 3dmgx3-25 Imu |
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32 | */ |
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33 | class Gx3_25_imu : public Imu, public core::Thread { |
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34 | friend class ::Gx3_25_imu_impl; |
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35 | |
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36 | public: |
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37 | /*! |
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38 | \enum Command_t |
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39 | \brief Command for the continuous mode |
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40 | */ |
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41 | enum Command_t{ |
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42 | EulerAnglesAndAngularRates=0xcf,/*!< Euler angles and angular rates */ |
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43 | AccelerationAngularRateAndOrientationMatrix=0xc8,/*!< Acceleration, angular rate and orientation matrix */ |
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44 | }; |
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45 | |
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46 | /*! |
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47 | * \brief Constructor |
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48 | * |
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49 | * Construct a Gx3_25_imu. |
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50 | * |
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51 | * \param parent parent |
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52 | * \param name name |
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53 | * \param serialport SerialPort |
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54 | * \param command command for continuous mode |
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55 | * \param priority priority of the Thread |
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56 | */ |
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57 | Gx3_25_imu(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Command_t command,uint8_t priority); |
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58 | |
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59 | /*! |
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60 | * \brief Destructor |
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61 | * |
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62 | */ |
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63 | ~Gx3_25_imu(); |
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64 | |
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65 | private: |
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66 | /*! |
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67 | * \brief Run function |
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68 | * |
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69 | * Reimplemented from Thread. |
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70 | * |
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71 | */ |
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72 | void Run(void); |
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73 | |
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74 | /*! |
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75 | * \brief Update using provided datas |
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76 | * |
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77 | * Reimplemented from IODevice. |
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78 | * |
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79 | * \param data data from the parent to process |
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80 | */ |
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81 | void UpdateFrom(const core::io_data *data){}; |
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82 | |
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83 | class Gx3_25_imu_impl* pimpl_; |
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84 | }; |
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85 | } // end namespace sensor |
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86 | } // end namespace flair |
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87 | |
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88 | #endif // GX3_25_IMU_H |
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