[324] | 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 | // created: 2014/01/16
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| 6 | // filename: Imu.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Virtual class for Imu
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Imu.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <Tab.h>
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| 21 | #include <TabWidget.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <GridLayout.h>
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| 24 | #include <DataPlot1D.h>
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| 25 | #include <ImuData.h>
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| 26 | #include <OneAxisRotation.h>
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 |
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| 32 | namespace flair {
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| 33 | namespace sensor {
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| 34 |
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| 35 | Imu::Imu(string name,bool needRotation) : IODevice(getFrameworkManager(), name) {
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| 36 | imuData = new ImuData(this);
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| 37 |
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| 38 | // station sol
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| 39 | mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 40 | tab = new TabWidget(mainTab->NewRow(), name);
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| 41 | sensorTab = new Tab(tab, "Reglages");
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| 42 | setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
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| 43 | if(needRotation) {
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| 44 | rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
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| 45 | } else {
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| 46 | rotation=NULL;
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| 47 | }
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| 48 | AddDataToLog(imuData);
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| 49 | }
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| 50 |
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| 51 | Imu::Imu(const IODevice *parent,std::string name) : IODevice(parent, name) {
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| 52 | imuData = new ImuData(this);
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| 53 | mainTab = NULL;
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| 54 | tab = NULL;
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| 55 | sensorTab = NULL;
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| 56 | setupGroupbox = NULL;
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| 57 | rotation = NULL;
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| 58 | }
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| 59 |
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| 60 | Imu::~Imu() {
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| 61 | if (mainTab != NULL)
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| 62 | delete mainTab;
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| 63 | }
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| 64 |
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| 65 | const ImuData *Imu::GetDatas(void) const {
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| 66 | return imuData;
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| 67 | }
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| 68 |
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| 69 | void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
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| 70 |
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| 71 | OneAxisRotation *Imu::GetOneAxisRotation(void) const {
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| 72 | if (rotation == NULL) {
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| 73 | Err("not applicable\n");
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| 74 | }
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| 75 | return rotation;
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| 76 | }
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| 77 |
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| 78 | void Imu::ApplyRotation(Vector3Df& vector) {
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| 79 | if (rotation == NULL) {
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| 80 | Err("not applicable\n");
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| 81 | return;
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| 82 | }
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| 83 | rotation->ComputeRotation(vector);
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| 84 | }
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| 85 |
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| 86 | void Imu::ApplyRotation(Quaternion& quaternion) {
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| 87 | if (rotation == NULL) {
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| 88 | Err("not applicable\n");
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| 89 | return;
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| 90 | }
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| 91 | rotation->ComputeRotation(quaternion);
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| 92 | }
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| 93 |
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| 94 | GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
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| 95 |
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| 96 | Layout *Imu::GetLayout(void) const { return sensorTab; }
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| 97 |
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| 98 | void Imu::LockUserInterface(void) const {
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| 99 | if (sensorTab == NULL) {
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| 100 | Err("not applicable for simulation part.\n");
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| 101 | return;
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| 102 | }
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| 103 | sensorTab->setEnabled(false);
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| 104 | }
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| 105 |
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| 106 | void Imu::UnlockUserInterface(void) const {
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| 107 | if (sensorTab == NULL) {
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| 108 | Err("not applicable for simulation part.\n");
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| 109 | return;
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| 110 | }
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| 111 | sensorTab->setEnabled(true);
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| 112 | }
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| 113 |
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| 114 | void Imu::UseDefaultPlot(void) {
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| 115 | if (tab == NULL) {
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| 116 | Err("not applicable for simulation part.\n");
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| 117 | return;
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| 118 | }
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| 119 |
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| 120 | plotTab = new Tab(tab, "IMU");
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| 121 | axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
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| 122 | axPlot->AddCurve(imuData->Element(ImuData::RawAx));
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| 123 | ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
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| 124 | ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
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| 125 | azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
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| 126 | azPlot->AddCurve(imuData->Element(ImuData::RawAz));
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| 127 |
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| 128 | if (plotTab == NULL)
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| 129 | plotTab = new Tab(tab, "IMU");
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| 130 | gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
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| 131 | gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
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| 132 | gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
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| 133 | gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
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| 134 | gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
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| 135 | gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
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| 136 |
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| 137 | if (plotTab == NULL)
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| 138 | plotTab = new Tab(tab, "IMU");
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| 139 | mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
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| 140 | mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
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| 141 | myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
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| 142 | myPlot->AddCurve(imuData->Element(ImuData::RawMy));
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| 143 | mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
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| 144 | mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
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| 145 | }
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| 146 |
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| 147 | Tab *Imu::GetPlotTab(void) const { return plotTab; }
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| 148 |
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| 149 | } // end namespace sensor
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| 150 | } // end namespace flair
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