| [4] | 1 | // %flair:license{
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| [13] | 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] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Imu.h
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| 7 | * \brief Base class for Imu
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/01/16
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef IMU_H
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| 14 | #define IMU_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 |
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| 18 | namespace flair {
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| [32] | 19 | namespace core {
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| 20 | class ImuData;
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| 21 | class OneAxisRotation;
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| 22 | }
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| 23 | namespace gui {
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| 24 | class Tab;
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| 25 | class TabWidget;
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| 26 | class GroupBox;
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| 27 | class Layout;
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| 28 | class DataPlot1D;
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| 29 | }
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| [4] | 30 | }
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| 31 |
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| 32 | class Ahrs_impl;
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| 33 |
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| [13] | 34 | namespace flair {
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| 35 | namespace sensor {
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| 36 | /*! \class Imu
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| 37 | *
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| 38 | * \brief Base class for Imu
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| 39 | *
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| 40 | * Use this class to define a custom Imu.
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| 41 | *
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| 42 | */
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| 43 | class Imu : public core::IODevice {
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| 44 | friend class ::Ahrs_impl;
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| [4] | 45 |
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| [13] | 46 | public:
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| 47 | /*!
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| 48 | * \brief Constructor
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| 49 | *
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| 50 | * Construct an Imu.
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| 51 | *
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| 52 | * \param parent parent
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| 53 | * \param name name
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| 54 | */
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| 55 | Imu(const core::FrameworkManager *parent, std::string name);
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| [4] | 56 |
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| [13] | 57 | /*!
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| 58 | * \brief Constructor
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| 59 | *
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| 60 | * Construct an Imu. \n
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| 61 | * This contructor must only be called for a simulated device.
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| 62 | *
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| 63 | * \param parent parent
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| 64 | * \param name name
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| 65 | */
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| 66 | Imu(const core::IODevice *parent, std::string name);
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| [4] | 67 |
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| [13] | 68 | /*!
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| 69 | * \brief Destructor
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| 70 | *
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| 71 | */
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| 72 | ~Imu();
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| [4] | 73 |
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| [13] | 74 | /*!
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| 75 | * \brief Setup Layout
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| 76 | *
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| 77 | * \return setup Layout
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| 78 | */
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| 79 | gui::Layout *GetLayout(void) const;
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| [4] | 80 |
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| [13] | 81 | /*!
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| 82 | * \brief Lock user interface
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| 83 | *
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| 84 | */
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| 85 | void LockUserInterface(void) const;
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| [4] | 86 |
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| [13] | 87 | /*!
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| 88 | * \brief Unlock user interface
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| 89 | *
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| 90 | */
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| 91 | void UnlockUserInterface(void) const;
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| [4] | 92 |
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| [13] | 93 | /*!
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| 94 | * \brief Use default plot
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| 95 | *
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| 96 | */
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| 97 | void UseDefaultPlot(void);
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| [4] | 98 |
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| [13] | 99 | /*!
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| 100 | * \brief Plot tab
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| 101 | *
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| 102 | * \return plot Tab
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| 103 | */
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| 104 | gui::Tab *GetPlotTab(void) const;
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| [4] | 105 |
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| [36] | 106 | /*!
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| 107 | * \brief Get OneAxisRotation
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| 108 | *
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| 109 | * \return fixed rotation of the imu
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| 110 | */
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| 111 | core::OneAxisRotation *GetOneAxisRotation(void) const;
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| 112 |
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| 113 |
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| [13] | 114 | protected:
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| 115 | /*!
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| 116 | * \brief Setup GroupBox
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| 117 | *
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| 118 | * \return setup GroupBox
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| 119 | */
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| 120 | gui::GroupBox *GetGroupBox(void) const;
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| [4] | 121 |
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| [13] | 122 | /*!
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| 123 | * \brief UpdateImu
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| 124 | *
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| 125 | * The reimplemented class must call this function as soon as IMU datas are
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| 126 | *available. \n
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| 127 | * It handles the data rotation if it was defined.
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| 128 | *
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| 129 | */
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| 130 | void UpdateImu();
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| [4] | 131 |
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| [13] | 132 | /*!
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| 133 | * \brief Get imu datas
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| 134 | *
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| 135 | * \param imuData imu datas
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| 136 | */
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| 137 | void GetDatas(core::ImuData **imuData) const;
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| [4] | 138 |
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| [13] | 139 | private:
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| 140 | gui::Tab *mainTab, *sensorTab, *plotTab;
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| 141 | gui::TabWidget *tab;
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| 142 | gui::GroupBox *setupGroupbox;
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| 143 | core::OneAxisRotation *rotation;
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| 144 | core::ImuData *imuData;
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| [4] | 145 |
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| [13] | 146 | gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
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| 147 | gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
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| 148 | gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
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| 149 | };
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| [4] | 150 | } // end namespace sensor
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| 151 | } // end namespace flair
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| 152 |
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| 153 | #endif // IMU_H
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