source: flair-dev/trunk/include/FlairSensorActuator/Imu.h@ 61

Last change on this file since 61 was 50, checked in by Sanahuja Guillaume, 5 years ago

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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 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>
17#include <Vector3D.h>
18
19namespace flair {
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 }
31}
32
33class Ahrs_impl;
34
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;
46
47public:
48 /*!
49 * \brief Constructor
50 *
51 * Construct an Imu.
52 * It will be child of the FrameworkManager.
53 *
54 * \param name name
55 */
56 Imu(std::string name);
57
58 /*!
59 * \brief Constructor
60 *
61 * Construct an Imu. \n
62 * This contructor must only be called for a simulated device.
63 *
64 * \param parent parent
65 * \param name name
66 */
67 Imu(const core::IODevice *parent, std::string name);
68
69 /*!
70 * \brief Destructor
71 *
72 */
73 ~Imu();
74
75 /*!
76 * \brief Get IMU datas
77 *
78 * \return ImuData
79 */
80 const core::ImuData *GetDatas(void) const;
81
82
83 /*!
84 * \brief Setup Layout
85 *
86 * \return setup Layout
87 */
88 gui::Layout *GetLayout(void) const;
89
90 /*!
91 * \brief Lock user interface
92 *
93 */
94 void LockUserInterface(void) const;
95
96 /*!
97 * \brief Unlock user interface
98 *
99 */
100 void UnlockUserInterface(void) const;
101
102 /*!
103 * \brief Use default plot
104 *
105 */
106 void UseDefaultPlot(void);
107
108 /*!
109 * \brief Plot tab
110 *
111 * \return plot Tab
112 */
113 gui::Tab *GetPlotTab(void) const;
114
115 /*!
116 * \brief Get OneAxisRotation
117 *
118 * \return fixed rotation of the imu
119 */
120 core::OneAxisRotation *GetOneAxisRotation(void) const;
121
122
123protected:
124 /*!
125 * \brief Setup GroupBox
126 *
127 * \return setup GroupBox
128 */
129 gui::GroupBox *GetGroupBox(void) const;
130
131 /*!
132 * \brief ApplyRotation
133 *
134 * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
135 * It handles the data rotation if it was defined.
136 *
137 * \param vector vector to apply rotation to
138 */
139 void ApplyRotation(core::Vector3Df& vector);
140
141 /*!
142 * \brief ApplyRotation
143 *
144 * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
145 * It handles the data rotation if it was defined.
146 *
147 * \param quaternion quaternion to apply rotation to
148 */
149 void ApplyRotation(core::Quaternion& quaternion);
150
151 /*!
152 * \brief Get imu datas
153 *
154 * Can be used by dervied class to fill core::ImuData
155 *
156 * \param imuData imu datas
157 */
158 void GetDatas(core::ImuData **imuData) const;
159
160private:
161 gui::Tab *mainTab, *sensorTab, *plotTab;
162 gui::TabWidget *tab;
163 gui::GroupBox *setupGroupbox;
164 core::OneAxisRotation *rotation;
165 core::ImuData *imuData;
166
167 gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
168 gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
169 gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
170};
171} // end namespace sensor
172} // end namespace flair
173
174#endif // IMU_H
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