source: flair-src/trunk/lib/FlairFilter/src/Ahrs.cpp@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 7 years ago

lic

File size: 1.9 KB
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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// created: 2014/01/14
6// filename: Ahrs.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Virtual class for AHRS
14//
15//
16/*********************************************************************/
17
18#include "Ahrs.h"
19#include "Ahrs_impl.h"
20#include <Imu.h>
21#include <DataPlot1D.h>
22#include <AhrsData.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27using namespace flair::sensor;
28
29namespace flair { namespace filter {
30
31Ahrs::Ahrs(const Imu* parent,string name) : IODevice(parent,name) {
32 pimpl_=new Ahrs_impl(this);
33 AddDataToLog(pimpl_->ahrsData);
34}
35
36Ahrs::~Ahrs() {
37 delete pimpl_;
38}
39
40const Imu *Ahrs::GetImu(void) const {
41 return (Imu*)Parent();
42}
43
44const AhrsData *Ahrs::GetDatas(void) const {
45 return pimpl_->ahrsData;
46}
47
48void Ahrs::GetDatas(core::AhrsData **ahrsData) const {
49 *ahrsData=pimpl_->ahrsData;
50}
51
52void Ahrs::LockUserInterface(void) const {
53 //((Imu*)Parent())->LockUserInterface();
54}
55
56void Ahrs::UnlockUserInterface(void) const {
57 //((Imu*)Parent())->UnlockUserInterface();
58}
59
60void Ahrs::UseDefaultPlot(void) {
61 pimpl_->UseDefaultPlot();
62 ((Imu*)Parent())->UseDefaultPlot();
63}
64
65void Ahrs::AddPlot(const AhrsData *ahrsData,DataPlot::Color_t color) {
66 pimpl_->AddPlot(ahrsData,color);
67}
68
69DataPlot1D *Ahrs::RollPlot(void) const {
70 return pimpl_->rollPlot;
71}
72
73DataPlot1D *Ahrs::PitchPlot(void) const {
74 return pimpl_->pitchPlot;
75}
76
77DataPlot1D *Ahrs::YawPlot(void) const {
78 return pimpl_->yawPlot;
79}
80
81DataPlot1D *Ahrs::WXPlot(void) const {
82 return pimpl_->wXPlot;
83}
84
85DataPlot1D *Ahrs::WYPlot(void) const {
86 return pimpl_->wYPlot;
87}
88
89DataPlot1D *Ahrs::WZPlot(void) const {
90 return pimpl_->wZPlot;
91}
92
93} // end namespace filter
94} // end namespace flair
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