[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 5 | /*!
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| 6 | * \file Ahrs.h
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| 7 | * \brief Abstract class for AHRS
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/01/14
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef AHRS_H
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| 14 | #define AHRS_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <DataPlot.h>
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| 18 |
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| 19 | namespace flair {
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[51] | 20 | namespace core {
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| 21 | class AhrsData;
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| 22 | }
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| 23 | namespace gui {
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| 24 | class Tab;
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| 25 | class DataPlot1D;
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| 26 | }
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| 27 | namespace sensor {
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| 28 | class Imu;
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| 29 | }
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[7] | 30 | }
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| 31 |
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| 32 | class Ahrs_impl;
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| 33 |
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[15] | 34 | namespace flair {
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| 35 | namespace filter {
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| 36 | /*! \class Ahrs
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| 37 | *
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| 38 | * \brief Abstract class for AHRS
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| 39 | *
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| 40 | * Use this class to define a custom AHRS. This class is child
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| 41 | * of an Imu class, which will provide measurements. \n
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| 42 | *
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| 43 | */
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| 44 | class Ahrs : public core::IODevice {
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| 45 | public:
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| 46 | /*!
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| 47 | * \brief Constructor
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| 48 | *
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| 49 | * Construct an Ahrs.
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| 50 | *
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| 51 | * \param parent parent
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| 52 | * \param name name
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| 53 | */
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| 54 | Ahrs(const sensor::Imu *parent, std::string name);
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[7] | 55 |
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[15] | 56 | /*!
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| 57 | * \brief Destructor
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| 58 | *
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| 59 | */
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| 60 | ~Ahrs();
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[7] | 61 |
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[15] | 62 | /*!
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| 63 | * \brief Get parent Imu
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| 64 | *
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| 65 | * This function is identical to (Imu*)Parent()
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| 66 | */
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| 67 | const sensor::Imu *GetImu(void) const;
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[7] | 68 |
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[15] | 69 | /*!
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| 70 | * \brief Get ahrs datas
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| 71 | *
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| 72 | * \return AhrsData
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| 73 | */
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| 74 | const core::AhrsData *GetDatas(void) const;
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[7] | 75 |
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[15] | 76 | /*!
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| 77 | * \brief Lock the graphical user interface
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| 78 | *
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| 79 | * When locked, parameters cannot be modified.
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| 80 | *
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| 81 | */
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| 82 | void LockUserInterface(void) const;
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[7] | 83 |
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[15] | 84 | /*!
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| 85 | * \brief Unlock the graphical user interface
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| 86 | *
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| 87 | */
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| 88 | void UnlockUserInterface(void) const;
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[7] | 89 |
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[15] | 90 | /*!
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| 91 | * \brief Use default plot
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| 92 | *
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| 93 | * Plot the datas defined in imudata,
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| 94 | * and datas defined in Imu::imudata.
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| 95 | *
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| 96 | */
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| 97 | void UseDefaultPlot(void);
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[7] | 98 |
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[15] | 99 | /*!
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| 100 | * \brief Add plot
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| 101 | *
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| 102 | * Add plot of an AhrsData to the default plot
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| 103 | *
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| 104 | * \param ahrsData ahrs datas to plot
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| 105 | * \param color color to use
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| 106 | */
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| 107 | void AddPlot(const core::AhrsData *ahrsData, gui::DataPlot::Color_t color);
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[7] | 108 |
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[15] | 109 | /*!
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| 110 | * \brief Roll plot
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| 111 | *
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| 112 | * Use this plot to add own curves.
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| 113 | *
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| 114 | * \return plot
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| 115 | *
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| 116 | */
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| 117 | gui::DataPlot1D *RollPlot(void) const;
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[7] | 118 |
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[15] | 119 | /*!
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| 120 | * \brief Pitch plot
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| 121 | *
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| 122 | * Use this plot to add own curves.
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| 123 | *
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| 124 | * \return plot
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| 125 | *
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| 126 | */
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| 127 | gui::DataPlot1D *PitchPlot(void) const;
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[7] | 128 |
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[15] | 129 | /*!
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| 130 | * \brief Yaw plot
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| 131 | *
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| 132 | * Use this plot to add own curves.
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| 133 | *
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| 134 | * \return plot
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| 135 | *
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| 136 | */
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| 137 | gui::DataPlot1D *YawPlot(void) const;
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[7] | 138 |
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[15] | 139 | /*!
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| 140 | * \brief Rotation speed around x axis plot
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| 141 | *
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| 142 | * Use this plot to add own curves.
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| 143 | *
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| 144 | * \return plot
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| 145 | *
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| 146 | */
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| 147 | gui::DataPlot1D *WXPlot(void) const;
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[7] | 148 |
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[15] | 149 | /*!
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| 150 | * \brief Rotation speed around y axis plot
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| 151 | *
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| 152 | * Use this plot to add own curves.
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| 153 | *
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| 154 | * \return plot
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| 155 | *
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| 156 | */
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| 157 | gui::DataPlot1D *WYPlot(void) const;
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[7] | 158 |
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[15] | 159 | /*!
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| 160 | * \brief Rotation speed around z axis plot
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| 161 | *
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| 162 | * Use this plot to add own curves.
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| 163 | *
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| 164 | * \return plot
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| 165 | *
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| 166 | */
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| 167 | gui::DataPlot1D *WZPlot(void) const;
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[7] | 168 |
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[15] | 169 | protected:
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| 170 | /*!
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| 171 | * \brief Get ahrs datas
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[179] | 172 | *
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| 173 | * Can be used by dervied class to fill core::AhrsData
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| 174 | *
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[15] | 175 | * \param ahrsData ahrs datas
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| 176 | */
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| 177 | void GetDatas(core::AhrsData **ahrsData) const;
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[7] | 178 |
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[15] | 179 | private:
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| 180 | class Ahrs_impl *pimpl_;
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| 181 | };
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[7] | 182 | } // end namespace filter
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| 183 | } // end namespace flair
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| 184 | #endif // AHRS_H
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