[2] | 1 | // %flair:license{ |
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[15] | 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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[2] | 4 | // %flair:license} |
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| 5 | /*! |
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| 6 | * \file AhrsData.h |
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| 7 | * \brief Class defining AHRS datas |
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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| 9 | * \date 2016/03/01 |
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| 10 | * \version 4.0 |
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| 11 | */ |
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| 12 | #ifndef AHRSDATA_H |
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| 13 | #define AHRSDATA_H |
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| 14 | |
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| 15 | #include <io_data.h> |
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| 16 | #include <IODataElement.h> |
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| 17 | #include <Vector3D.h> |
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| 18 | #include <Quaternion.h> |
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| 19 | |
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[15] | 20 | namespace flair { |
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| 21 | namespace core { |
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[2] | 22 | |
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[15] | 23 | /*! \class AhrsData |
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| 24 | * |
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| 25 | * \brief Class defining AHRS datas |
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| 26 | * |
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| 27 | * AHRS datas consist of quaternion and rotational angles values. \n |
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| 28 | * |
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| 29 | */ |
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| 30 | class AhrsData : public io_data { |
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| 31 | public: |
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| 32 | class Type : public DataType { |
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| 33 | public: |
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| 34 | Type(const ScalarType &inElementDataType) |
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| 35 | : elementDataType(inElementDataType) {} |
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| 36 | const ScalarType &GetElementDataType() const { return elementDataType; } |
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| 37 | std::string GetDescription() const { return "ahrs data"; } |
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| 38 | size_t GetSize() const { return 7 * elementDataType.GetSize(); } |
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[2] | 39 | |
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[15] | 40 | private: |
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| 41 | const ScalarType &elementDataType; |
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| 42 | }; |
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[2] | 43 | |
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[15] | 44 | /*! |
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| 45 | \enum PlotableData_t |
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| 46 | \brief Datas wich can be plotted in a DataPlot1D |
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| 47 | */ |
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| 48 | typedef enum { |
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| 49 | Roll /*! roll */, |
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| 50 | Pitch /*! pitch */, |
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| 51 | Yaw /*! yaw */, |
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| 52 | RollDeg /*! roll degree*/, |
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| 53 | PitchDeg /*! pitch degree */, |
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| 54 | YawDeg /*! yaw degree */, |
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| 55 | Q0 /*! quaternion 0 */, |
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| 56 | Q1 /*! quaternion 1 */, |
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| 57 | Q2 /*! quaternion 2 */, |
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| 58 | Q3 /*! quaternion 3 */, |
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| 59 | Wx /*! x filtered angular rate */, |
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| 60 | Wy /*! y filtered angular rate */, |
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| 61 | Wz /*! z filtered angular rate */, |
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| 62 | WxDeg /*! x filtered angular rate degree*/, |
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| 63 | WyDeg /*! y filtered angular rate degree*/, |
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| 64 | WzDeg /*! z filtered angular rate degree*/, |
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| 65 | } PlotableData_t; |
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[2] | 66 | |
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[15] | 67 | /*! |
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| 68 | * \brief Constructor |
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| 69 | * |
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| 70 | * Construct an io_data representing AHRS datas. \n |
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| 71 | * |
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| 72 | * \param parent parent |
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| 73 | * \param name name |
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| 74 | * \param n number of samples |
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| 75 | */ |
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| 76 | AhrsData(const Object *parent, std::string name = "", int n = 1); |
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[2] | 77 | |
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[15] | 78 | /*! |
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| 79 | * \brief Destructor |
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| 80 | * |
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| 81 | */ |
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| 82 | ~AhrsData(); |
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[2] | 83 | |
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[15] | 84 | /*! |
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| 85 | * \brief Element |
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| 86 | * |
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| 87 | * Get a pointer to a specific element. This pointer can be used for plotting. |
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| 88 | * |
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| 89 | * \param plotableData data type |
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| 90 | * |
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| 91 | * \return pointer to the element |
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| 92 | */ |
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| 93 | IODataElement *Element(PlotableData_t plotableData) const; |
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[2] | 94 | |
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[15] | 95 | /*! |
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| 96 | * \brief Set quaternion |
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| 97 | * |
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| 98 | * This method is mutex protected. |
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| 99 | * |
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| 100 | * \param quaternion quaternion |
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| 101 | * |
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| 102 | */ |
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| 103 | void SetQuaternion(const Quaternion &quaternion); |
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[2] | 104 | |
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[15] | 105 | /*! |
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| 106 | * \brief Get quaternion |
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| 107 | * |
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| 108 | * This method is mutex protected. |
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| 109 | * |
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| 110 | * \return quaternion |
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| 111 | * |
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| 112 | */ |
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| 113 | Quaternion GetQuaternion(void) const; |
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[2] | 114 | |
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[15] | 115 | /*! |
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| 116 | * \brief Set angular rates |
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| 117 | * |
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| 118 | * This method is mutex protected. |
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| 119 | * |
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| 120 | * \param angularRates angular rates |
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| 121 | * |
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| 122 | */ |
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[167] | 123 | void SetAngularRates(const Vector3Df &angularRates); |
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[2] | 124 | |
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[15] | 125 | /*! |
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| 126 | * \brief Get angular rates |
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| 127 | * |
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| 128 | * This method is mutex protected. |
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| 129 | * |
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| 130 | * \return angular rates |
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| 131 | * |
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| 132 | */ |
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[167] | 133 | Vector3Df GetAngularRates(void) const; |
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[2] | 134 | |
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[15] | 135 | /*! |
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| 136 | * \brief Get both quaternion and angular rates |
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| 137 | * |
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| 138 | * This method is mutex protected. |
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| 139 | * |
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| 140 | * \param quaternion quaternion |
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| 141 | * \param angularRates angular rates |
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| 142 | * |
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| 143 | */ |
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| 144 | void GetQuaternionAndAngularRates(Quaternion &quaternion, |
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[167] | 145 | Vector3Df &angularRates) const; |
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[2] | 146 | |
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[15] | 147 | /*! |
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| 148 | * \brief Set both quaternion and angular rates |
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| 149 | * |
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| 150 | * This method is mutex protected. |
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| 151 | * |
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| 152 | * \param quaternion quaternion |
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| 153 | * \param angularRates angular rates |
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| 154 | * |
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| 155 | */ |
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| 156 | void SetQuaternionAndAngularRates(const Quaternion &quaternion, |
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[167] | 157 | const Vector3Df &angularRates); |
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[2] | 158 | |
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[15] | 159 | const Type &GetDataType() const { return dataType; } |
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[2] | 160 | |
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[15] | 161 | private: |
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| 162 | /*! |
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| 163 | * \brief Copy datas |
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| 164 | * |
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| 165 | * Reimplemented from io_data. \n |
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| 166 | * See io_data::CopyDatas. |
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| 167 | * |
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| 168 | * \param dst destination buffer |
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| 169 | */ |
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| 170 | void CopyDatas(char *dst) const; |
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[2] | 171 | |
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[15] | 172 | void Queue(char **dst, const void *src, size_t size) const; |
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[2] | 173 | |
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[15] | 174 | /*! |
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| 175 | * \brief %Quaternion |
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| 176 | * |
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| 177 | */ |
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| 178 | Quaternion quaternion; |
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[2] | 179 | |
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[15] | 180 | /*! |
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| 181 | * \brief Angular rates |
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| 182 | * |
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| 183 | */ |
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[167] | 184 | Vector3Df angularRates; |
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[15] | 185 | |
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| 186 | Type dataType; |
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| 187 | }; |
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| 188 | |
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[2] | 189 | } // end namespace core |
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| 190 | } // end namespace flair |
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| 191 | |
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| 192 | #endif // AHRSDATA_H |
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