| 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 ImuData.h
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| 7 | * \brief Class defining IMU datas
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/01/15
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| 10 | * \version 4.0
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| 11 | */
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| 12 | #ifndef IMUDATA_H
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| 13 | #define IMUDATA_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 |
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| 19 | namespace flair { namespace core {
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| 20 |
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| 21 | /*! \class ImuData
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| 22 | *
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| 23 | * \brief Class defining IMU datas
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| 24 | *
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| 25 | * IMU (inertial measurement unit) datas consist of raw accelerometer values, raw gyrometer values
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| 26 | * and raw magnetometer values.
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| 27 | *
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| 28 | */
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| 29 | class ImuData: 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(ScalarType const &_elementDataType):
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| 34 | elementDataType(_elementDataType){}
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| 35 | ScalarType const &GetElementDataType() const {return elementDataType;}
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| 36 | std::string GetDescription() const {return "imu data";}
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| 37 | size_t GetSize() const {
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| 38 | size_t size=0;
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| 39 | size+=3*elementDataType.GetSize();//RawAcc
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| 40 | size+=3*elementDataType.GetSize();//RawGyr
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| 41 | size+=3*elementDataType.GetSize();//RawMag
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| 42 | return size;
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| 43 | }
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| 44 | private:
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| 45 | ScalarType const &elementDataType;
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| 46 | };
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| 47 |
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| 48 | /*!
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| 49 | \enum PlotableData_t
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| 50 | \brief Datas wich can be plotted in a DataPlot1D
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| 51 | */
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| 52 | typedef enum {
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| 53 | RawAx/*! x raw accelerometer */, RawAy/*! y raw accelerometer */ ,RawAz/*! z raw accelerometer */,
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| 54 | RawGx/*! x raw gyrometer */,RawGy/*! y raw gyrometer */,RawGz/*! z raw gyrometer */,
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| 55 | RawGxDeg/*! x raw gyrometer degree */,RawGyDeg/*! y raw gyrometer degree */,RawGzDeg/*! z raw gyrometer degree */,
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| 56 | RawMx/*! x raw magnetometer */,RawMy/*! y raw magnetometer */,RawMz/*! z raw magnetometer */
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| 57 | } PlotableData_t;
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| 58 |
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| 59 | /*!
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| 60 | * \brief Constructor
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| 61 | *
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| 62 | * Construct an io_data representing IMU datas. \n
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| 63 | *
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| 64 | * \param parent parent
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| 65 | * \param name name
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| 66 | * \param n number of samples
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| 67 | */
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| 68 | ImuData(const Object* parent,std::string name="",int n=1);
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| 69 |
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| 70 | /*!
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| 71 | * \brief Destructor
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| 72 | *
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| 73 | */
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| 74 | ~ImuData();
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| 75 |
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| 76 | /*!
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| 77 | * \brief Element
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| 78 | *
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| 79 | * Get a pointer to a specific element. This pointer can be used for plotting.
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| 80 | *
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| 81 | * \param data_type data type
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| 82 | *
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| 83 | * \return pointer to the element
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| 84 | */
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| 85 | IODataElement* Element(PlotableData_t data_type) const;
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| 86 |
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| 87 | /*!
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| 88 | * \brief Get raw accelerations
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| 89 | *
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| 90 | * This method is mutex protected.
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| 91 | *
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| 92 | * \return raw accelerations
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| 93 | *
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| 94 | */
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| 95 | Vector3D GetRawAcc(void) const;
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| 96 |
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| 97 | /*!
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| 98 | * \brief Get raw magnetometers
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| 99 | *
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| 100 | * This method is mutex protected.
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| 101 | *
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| 102 | * \return raw magnetometers
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| 103 | *
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| 104 | */
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| 105 | Vector3D GetRawMag(void) const;
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| 106 |
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| 107 | /*!
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| 108 | * \brief Get raw angular speed
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| 109 | *
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| 110 | * This method is mutex protected.
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| 111 | *
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| 112 | * \return raw angular speed
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| 113 | *
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| 114 | */
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| 115 | Vector3D GetRawGyr(void) const;
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| 116 |
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| 117 | /*!
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| 118 | * \brief Get raw accelerations, magnetometers and angular speeds
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| 119 | *
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| 120 | * This method is mutex protected.
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| 121 | *
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| 122 | * \param rawAcc raw accelerations
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| 123 | * \param rawMag raw magnetometers
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| 124 | * \param rawGyr raw angular speeds
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| 125 | *
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| 126 | */
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| 127 | void GetRawAccMagAndGyr(Vector3D &rawAcc,Vector3D &rawMag,Vector3D &rawGyr) const;
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| 128 |
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| 129 | /*!
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| 130 | * \brief Set raw accelerations
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| 131 | *
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| 132 | * This method is mutex protected.
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| 133 | *
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| 134 | * \param raw accelerations
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| 135 | *
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| 136 | */
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| 137 | void SetRawAcc(const Vector3D &rawAcc);
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| 138 |
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| 139 | /*!
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| 140 | * \brief Set raw magnetometers
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| 141 | *
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| 142 | * This method is mutex protected.
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| 143 | *
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| 144 | * \param raw magnetometers
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| 145 | *
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| 146 | */
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| 147 | void SetRawMag(const Vector3D &rawMag);
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| 148 |
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| 149 | /*!
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| 150 | * \brief Set raw angular speed
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| 151 | *
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| 152 | * This method is mutex protected.
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| 153 | *
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| 154 | * \param raw angular speed
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| 155 | *
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| 156 | */
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| 157 | void SetRawGyr(const Vector3D &rawGyr);
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| 158 |
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| 159 | /*!
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| 160 | * \brief Set raw accelerations, magnetometers and angular speeds
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| 161 | *
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| 162 | * This method is mutex protected.
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| 163 | *
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| 164 | * \param rawAcc raw accelerations
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| 165 | * \param rawMag raw magnetometers
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| 166 | * \param rawGyr raw angular speeds
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| 167 | *
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| 168 | */
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| 169 | void SetRawAccMagAndGyr(const Vector3D &rawAcc,const Vector3D &rawMag,const Vector3D &rawGyr);
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| 170 |
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| 171 | Type const&GetDataType() const {return dataType;}
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| 172 | private:
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| 173 | /*!
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| 174 | * \brief Copy datas
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| 175 | *
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| 176 | * Reimplemented from io_data. \n
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| 177 | * See io_data::CopyDatas.
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| 178 | *
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| 179 | * \param dst destination buffer
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| 180 | */
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| 181 | void CopyDatas(char* dst) const;
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| 182 |
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| 183 | /*!
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| 184 | * \brief Raw accelerometer
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| 185 | *
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| 186 | */
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| 187 | Vector3D rawAcc;
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| 188 |
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| 189 | /*!
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| 190 | * \brief Raw gyrometer
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| 191 | *
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| 192 | */
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| 193 | Vector3D rawGyr;
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| 194 |
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| 195 | /*!
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| 196 | * \brief Raw magnetometer
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| 197 | *
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| 198 | */
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| 199 | Vector3D rawMag;
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| 200 |
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| 201 | void Queue(char** dst,const void *src,size_t size) const;
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| 202 | Type dataType;
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| 203 |
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| 204 | };
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| 205 |
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| 206 | } // end namespace core
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| 207 | } // end namespace flair
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| 208 |
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| 209 | #endif // IMUDATA_H
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