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