[2] | 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 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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| 20 | namespace flair { namespace core {
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| 21 |
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| 22 | /*! \class AhrsData
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| 23 | *
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| 24 | * \brief Class defining AHRS datas
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| 25 | *
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| 26 | * AHRS datas consist of quaternion and rotational angles values. \n
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| 27 | *
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| 28 | */
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| 29 | class AhrsData: public io_data {
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| 30 | public:
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| 31 | class Type: public DataType {
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| 32 | public:
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| 33 | Type(const ScalarType &inElementDataType):
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| 34 | elementDataType(inElementDataType) {}
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| 35 | const ScalarType &GetElementDataType() const {return elementDataType;}
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| 36 | std::string GetDescription() const {return "ahrs data";}
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| 37 | size_t GetSize() const {
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| 38 | return 7*elementDataType.GetSize();
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| 39 | }
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| 40 | private:
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| 41 | const ScalarType &elementDataType;
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| 42 | };
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| 43 |
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| 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 */, Pitch/*! pitch */, Yaw/*! yaw */,
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| 50 | RollDeg/*! roll degree*/, PitchDeg/*! pitch degree */, YawDeg/*! yaw degree */,
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| 51 | Q0/*! quaternion 0 */, Q1/*! quaternion 1 */, Q2/*! quaternion 2 */, Q3/*! quaternion 3 */,
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| 52 | Wx/*! x filtered angular rate */, Wy/*! y filtered angular rate */, Wz/*! z filtered angular rate */,
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| 53 | WxDeg/*! x filtered angular rate degree*/, WyDeg/*! y filtered angular rate degree*/, WzDeg/*! z filtered angular rate degree*/,
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| 54 | } PlotableData_t;
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| 55 |
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| 56 | /*!
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| 57 | * \brief Constructor
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| 58 | *
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| 59 | * Construct an io_data representing AHRS datas. \n
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| 60 | *
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| 61 | * \param parent parent
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| 62 | * \param name name
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| 63 | * \param n number of samples
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| 64 | */
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| 65 | AhrsData(const Object* parent,std::string name="",int n=1);
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| 66 |
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| 67 | /*!
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| 68 | * \brief Destructor
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| 69 | *
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| 70 | */
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| 71 | ~AhrsData();
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| 72 |
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| 73 | /*!
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| 74 | * \brief Element
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| 75 | *
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| 76 | * Get a pointer to a specific element. This pointer can be used for plotting.
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| 77 | *
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| 78 | * \param plotableData data type
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| 79 | *
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| 80 | * \return pointer to the element
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| 81 | */
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| 82 | IODataElement *Element(PlotableData_t plotableData) const;
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| 83 |
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| 84 | /*!
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| 85 | * \brief Set quaternion
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| 86 | *
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| 87 | * This method is mutex protected.
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| 88 | *
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| 89 | * \param quaternion quaternion
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| 90 | *
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| 91 | */
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| 92 | void SetQuaternion(const Quaternion &quaternion);
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| 93 |
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| 94 | /*!
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| 95 | * \brief Get quaternion
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| 96 | *
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| 97 | * This method is mutex protected.
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| 98 | *
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| 99 | * \return quaternion
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| 100 | *
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| 101 | */
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| 102 | Quaternion GetQuaternion(void) const;
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| 103 |
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| 104 | /*!
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| 105 | * \brief Set angular rates
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| 106 | *
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| 107 | * This method is mutex protected.
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| 108 | *
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| 109 | * \param angularRates angular rates
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| 110 | *
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| 111 | */
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| 112 | void SetAngularRates(const Vector3D &angularRates);
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| 113 |
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| 114 | /*!
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| 115 | * \brief Get angular rates
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| 116 | *
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| 117 | * This method is mutex protected.
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| 118 | *
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| 119 | * \return angular rates
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| 120 | *
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| 121 | */
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| 122 | Vector3D GetAngularRates(void) const;
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| 123 |
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| 124 | /*!
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| 125 | * \brief Get both quaternion and angular rates
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| 126 | *
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| 127 | * This method is mutex protected.
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| 128 | *
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| 129 | * \param quaternion quaternion
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| 130 | * \param angularRates angular rates
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| 131 | *
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| 132 | */
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| 133 | void GetQuaternionAndAngularRates(Quaternion &quaternion,Vector3D &angularRates) const;
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| 134 |
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| 135 | /*!
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| 136 | * \brief Set 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 SetQuaternionAndAngularRates(const Quaternion &quaternion,const Vector3D &angularRates);
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| 145 |
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| 146 | const Type &GetDataType() const {return dataType;}
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| 147 | private:
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| 148 | /*!
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| 149 | * \brief Copy datas
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| 150 | *
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| 151 | * Reimplemented from io_data. \n
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| 152 | * See io_data::CopyDatas.
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| 153 | *
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| 154 | * \param dst destination buffer
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| 155 | */
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| 156 | void CopyDatas(char *dst) const;
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| 157 |
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| 158 | void Queue(char **dst,const void *src,size_t size) const;
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| 159 |
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| 160 | /*!
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| 161 | * \brief %Quaternion
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| 162 | *
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| 163 | */
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| 164 | Quaternion quaternion;
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| 165 |
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| 166 | /*!
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| 167 | * \brief Angular rates
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| 168 | *
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| 169 | */
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| 170 | Vector3D angularRates;
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| 171 |
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| 172 | Type dataType;
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| 173 | };
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| 174 |
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| 175 | } // end namespace core
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| 176 | } // end namespace flair
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| 177 |
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| 178 | #endif // AHRSDATA_H
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