source: flair-dev/trunk/include/FlairSensorActuator/SimuImu.h@ 4

Last change on this file since 4 was 4, checked in by Sanahuja Guillaume, 9 years ago

sensoractuator

File size: 2.4 KB
Line 
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 SimuImu.h
7 * \brief Class for a simulation Imu
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMUIMU_H
14#define SIMUIMU_H
15
16#include <Imu.h>
17#include <Thread.h>
18
19namespace flair {
20 namespace core {
21 class SharedMem;
22 class AhrsData;
23 }
24 namespace gui {
25 class SpinBox;
26 }
27}
28
29namespace flair { namespace sensor {
30 /*! \class SimuImu
31 *
32 * \brief Class for a simulation Imu
33 */
34 class SimuImu : public Imu, public core::Thread {
35 public:
36 /*!
37 * \brief Constructor
38 *
39 * Construct a SimuImu. Control part.
40 *
41 * \param parent parent
42 * \param name name
43 * \param dev_id device id
44 * \param priority priority of the Thread
45 */
46 SimuImu(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
47
48 /*!
49 * \brief Constructor
50 *
51 * Construct a SimuImu. Simulation part.\n
52 * The Thread of this class should not be run.
53 *
54 * \param parent parent
55 * \param name name
56 * \param dev_id device id
57 */
58 SimuImu(const core::IODevice* parent,std::string name,uint32_t dev_id);
59
60 /*!
61 * \brief Destructor
62 *
63 */
64 ~SimuImu();
65
66 private:
67 /*!
68 * \brief Run function
69 *
70 * Reimplemented from Thread.
71 *
72 */
73 void Run(void);
74
75 /*!
76 * \brief Update using provided datas
77 *
78 * Reimplemented from IODevice.
79 *
80 * \param data data from the parent to process
81 */
82 void UpdateFrom(const core::io_data *data);
83
84 typedef struct {
85 float q0;
86 float q1;
87 float q2;
88 float q3;
89 float wx;
90 float wy;
91 float wz;
92 } imu_states_t;
93 gui::SpinBox *data_rate;
94 core::SharedMem *shmem;
95 core::AhrsData *ahrsData;
96 };
97} // end namespace sensor
98} // end namespace flair
99#endif // SIMUIMU_H
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