source: flair-dev/trunk/include/FlairSensorActuator/Gx3_25_imu.h@ 45

Last change on this file since 45 was 36, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.8 KB
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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_imu.h
7 * \brief Class for 3dmgx3-25 Imu
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/08/19
10 * \version 4.0
11 */
12
13#ifndef GX3_25_IMU_H
14#define GX3_25_IMU_H
15
16#include <Imu.h>
17#include <Thread.h>
18
19namespace flair {
20namespace core {
21class FrameworkManager;
22class SerialPort;
23}
24}
25
26class Gx3_25_imu_impl;
27
28namespace flair {
29namespace sensor {
30/*! \class Gx3_25_imu
31*
32* \brief Class for 3dmgx3-25 Imu
33*/
34class Gx3_25_imu : public Imu, public core::Thread {
35 friend class ::Gx3_25_imu_impl;
36
37public:
38 /*!
39 \enum Command_t
40 \brief Command for the continuous mode
41 */
42 enum Command_t {
43 EulerAnglesAndAngularRates = 0xcf, /*!< Euler angles and angular rates */
44 AccelerationAngularRateAndOrientationMatrix =
45 0xc8, /*!< Acceleration, angular rate and orientation matrix */
46 Quaternion = 0xdf, /*!< Quaternion */
47 };
48
49 /*!
50 * \brief Constructor
51 *
52 * Construct a Gx3_25_imu.
53 *
54 * \param parent parent
55 * \param name name
56 * \param serialport SerialPort
57 * \param command command for continuous mode
58 * \param priority priority of the Thread
59 */
60 Gx3_25_imu(const core::FrameworkManager *parent, std::string name,
61 core::SerialPort *serialport, Command_t command, uint8_t priority);
62
63 /*!
64 * \brief Destructor
65 *
66 */
67 ~Gx3_25_imu();
68
69private:
70 /*!
71 * \brief Run function
72 *
73 * Reimplemented from Thread.
74 *
75 */
76 void Run(void);
77
78 /*!
79 * \brief Update using provided datas
80 *
81 * Reimplemented from IODevice.
82 *
83 * \param data data from the parent to process
84 */
85 void UpdateFrom(const core::io_data *data){};
86
87 class Gx3_25_imu_impl *pimpl_;
88};
89} // end namespace sensor
90} // end namespace flair
91
92#endif // GX3_25_IMU_H
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