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