source: flair-dev/trunk/include/FlairSensorActuator/Imu.h @ 62

Last change on this file since 62 was 62, checked in by Sanahuja Guillaume, 3 years ago

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File size: 3.3 KB
RevLine 
[4]1// %flair:license{
[13]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[4]4// %flair:license}
5/*!
6 * \file Imu.h
7 * \brief Base class for Imu
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/16
10 * \version 4.0
11 */
12
13#ifndef IMU_H
14#define IMU_H
15
16#include <IODevice.h>
[50]17#include <Vector3D.h>
[4]18
19namespace flair {
[32]20  namespace core {
21    class ImuData;
22    class OneAxisRotation;
23  }
24  namespace gui {
25    class Tab;
26    class TabWidget;
27    class GroupBox;
28    class Layout;
29    class DataPlot1D;
30  }
[4]31}
32
33class Ahrs_impl;
34
[13]35namespace flair {
36namespace sensor {
37/*! \class Imu
38*
39* \brief Base class for Imu
40*
41* Use this class to define a custom Imu.
42*
43*/
44class Imu : public core::IODevice {
45  friend class ::Ahrs_impl;
[4]46
[13]47public:
48  /*!
49  * \brief Constructor
50  *
51  * Construct an Imu.
[50]52        * It will be child of the FrameworkManager.
[13]53  *
54  * \param name name
[62]55  * \param needRotation true will enable post rotation in GCS. Post rotation must be applied manually in reimplemented code
[13]56  */
[62]57  Imu(std::string name,bool needRotation=true);
[4]58
[13]59  /*!
60  * \brief Constructor
61  *
62  * Construct an Imu. \n
63  * This contructor must only be called for a simulated device.
64  *
65  * \param parent parent
66  * \param name name
67  */
68  Imu(const core::IODevice *parent, std::string name);
[4]69
[13]70  /*!
71  * \brief Destructor
72  *
73  */
74  ~Imu();
[50]75 
76  /*!
77  * \brief Get IMU datas
78  *
79  * \return ImuData
80  */
81  const core::ImuData *GetDatas(void) const;
[4]82
[50]83
[13]84  /*!
85  * \brief Setup Layout
86  *
87  * \return setup Layout
88  */
89  gui::Layout *GetLayout(void) const;
[4]90
[13]91  /*!
92  * \brief Lock user interface
93  *
94  */
95  void LockUserInterface(void) const;
[4]96
[13]97  /*!
98  * \brief Unlock user interface
99  *
100  */
101  void UnlockUserInterface(void) const;
[4]102
[13]103  /*!
104  * \brief Use default plot
105  *
106  */
107  void UseDefaultPlot(void);
[4]108
[13]109  /*!
110  * \brief Plot tab
111  *
112  * \return plot Tab
113  */
114  gui::Tab *GetPlotTab(void) const;
[4]115
[36]116  /*!
117  * \brief Get OneAxisRotation
118  *
119  * \return fixed rotation of the imu
120  */
121  core::OneAxisRotation *GetOneAxisRotation(void) const;
122
123
[13]124protected:
125  /*!
126  * \brief Setup GroupBox
127  *
128  * \return setup GroupBox
129  */
130  gui::GroupBox *GetGroupBox(void) const;
[4]131
[13]132  /*!
[50]133  * \brief ApplyRotation
[13]134  *
[50]135  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
[13]136  * It handles the data rotation if it was defined.
137  *
[50]138  * \param vector vector to apply rotation to
[13]139  */
[50]140  void ApplyRotation(core::Vector3Df& vector);
141 
142  /*!
143  * \brief ApplyRotation
144  *
145  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
146  * It handles the data rotation if it was defined.
147  *
148  * \param quaternion quaternion to apply rotation to
149  */
150  void ApplyRotation(core::Quaternion& quaternion);
[4]151
[13]152  /*!
153  * \brief Get imu datas
154  *
[50]155  * Can be used by dervied class to fill core::ImuData
156  *
[13]157  * \param imuData imu datas
158  */
159  void GetDatas(core::ImuData **imuData) const;
[4]160
[13]161private:
162  gui::Tab *mainTab, *sensorTab, *plotTab;
163  gui::TabWidget *tab;
164  gui::GroupBox *setupGroupbox;
165  core::OneAxisRotation *rotation;
166  core::ImuData *imuData;
[4]167
[13]168  gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
169  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
170  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
171};
[4]172} // end namespace sensor
173} // end namespace flair
174
175#endif // IMU_H
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