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 {
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29 | namespace sensor {
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30 | /*! \class Gx3_25_imu
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31 | *
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32 | * \brief Class for 3dmgx3-25 Imu
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33 | */
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34 | class Gx3_25_imu : public Imu, public core::Thread {
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35 | friend class ::Gx3_25_imu_impl;
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36 |
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37 | public:
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38 | /*!
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39 | \enum Command_t
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40 | \brief Command for the continuous mode
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41 | */
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42 | enum Command_t {
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43 | EulerAnglesAndAngularRates = 0xcf, /*!< Euler angles and angular rates */
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44 | AccelerationAngularRateAndOrientationMatrix =
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45 | 0xc8, /*!< Acceleration, angular rate and orientation matrix */
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46 | Quaternion = 0xdf, /*!< Quaternion */
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47 | };
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48 |
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49 | /*!
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50 | * \brief Constructor
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51 | *
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52 | * Construct a Gx3_25_imu. It will be child of the FrameworkManager.
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53 | *
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54 | * \param name name
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55 | * \param serialport SerialPort
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56 | * \param command command for continuous mode
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57 | * \param priority priority of the Thread
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58 | */
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59 | Gx3_25_imu(std::string name,
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60 | core::SerialPort *serialport, Command_t command, uint8_t priority);
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61 |
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62 | /*!
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63 | * \brief Destructor
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64 | *
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65 | */
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66 | ~Gx3_25_imu();
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67 |
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68 | private:
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69 | /*!
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70 | * \brief Run function
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71 | *
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72 | * Reimplemented from Thread.
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73 | *
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74 | */
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75 | void Run(void);
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76 |
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77 | /*!
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78 | * \brief Update using provided datas
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79 | *
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80 | * Reimplemented from IODevice.
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81 | *
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82 | * \param data data from the parent to process
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83 | */
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84 | void UpdateFrom(const core::io_data *data){};
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85 |
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86 | class Gx3_25_imu_impl *pimpl_;
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87 | };
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88 | } // end namespace sensor
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89 | } // end namespace flair
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90 |
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91 | #endif // GX3_25_IMU_H
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