source: flair-dev/trunk/include/FlairSensorActuator/SimuImu.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 1.7 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 {
30namespace sensor {
31/*! \class SimuImu
32*
33* \brief Class for a simulation Imu
34*/
35class SimuImu : public Imu, public core::Thread {
36public:
37  /*!
38  * \brief Constructor
39  *
40  * Construct a SimuImu.
41        * It will be child of the FrameworkManager.
42  *
43  * \param name name
44  * \param modelId Model id
45  * \param deviceId Imu id of the Model
46  * \param priority priority of the Thread
47  */
48  SimuImu(std::string name,
49          uint32_t modelId,uint32_t deviceId, uint8_t priority);
50
51  /*!
52  * \brief Destructor
53  *
54  */
55  ~SimuImu();
56
57private:
58  /*!
59  * \brief Run function
60  *
61  * Reimplemented from Thread.
62  *
63  */
64  void Run(void);
65
66  /*!
67  * \brief Update using provided datas
68  *
69  * Reimplemented from IODevice.
70  *
71  * \param data data from the parent to process
72  */
73  void UpdateFrom(const core::io_data *data){};
74
75  typedef struct {
76    float q0;
77    float q1;
78    float q2;
79    float q3;
80    float wx;
81    float wy;
82    float wz;
83    float ax;
84    float ay;
85    float az;
86    float mx;
87    float my;
88    float mz;
89  } imu_states_t;
90 
91  std::string ShMemName(uint32_t modelId,uint32_t deviceId);
92
93  gui::SpinBox *dataRate;
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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