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 { |
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21 | namespace core { |
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22 | |
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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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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 */, |
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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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66 | |
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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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77 | |
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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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83 | |
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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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94 | |
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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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104 | |
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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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114 | |
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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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123 | void SetAngularRates(const Vector3D &angularRates); |
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124 | |
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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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133 | Vector3D GetAngularRates(void) const; |
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134 | |
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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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145 | Vector3D &angularRates) const; |
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146 | |
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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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157 | const Vector3D &angularRates); |
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158 | |
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159 | const Type &GetDataType() const { return dataType; } |
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160 | |
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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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171 | |
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172 | void Queue(char **dst, const void *src, size_t size) const; |
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173 | |
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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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179 | |
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180 | /*! |
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181 | * \brief Angular rates |
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182 | * |
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183 | */ |
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184 | Vector3D angularRates; |
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185 | |
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186 | Type dataType; |
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187 | }; |
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188 | |
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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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