| 1 | /*!
|
---|
| 2 | * \file Ahrs.h
|
---|
| 3 | * \brief Abstract class for AHRS
|
---|
| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 5 | * \date 2014/01/14
|
---|
| 6 | * \version 4.0
|
---|
| 7 | */
|
---|
| 8 |
|
---|
| 9 | #ifndef AHRS_H
|
---|
| 10 | #define AHRS_H
|
---|
| 11 |
|
---|
| 12 | #include <IODevice.h>
|
---|
| 13 | #include <DataPlot.h>
|
---|
| 14 |
|
---|
| 15 | namespace flair {
|
---|
| 16 | namespace core {
|
---|
| 17 | class Euler;
|
---|
| 18 | class Vector3D;
|
---|
| 19 | class ImuData;
|
---|
| 20 | class Quaternion;
|
---|
| 21 | class AhrsData;
|
---|
| 22 | }
|
---|
| 23 | namespace gui {
|
---|
| 24 | class Tab;
|
---|
| 25 | class DataPlot1D;
|
---|
| 26 | }
|
---|
| 27 | namespace sensor {
|
---|
| 28 | class Imu;
|
---|
| 29 | }
|
---|
| 30 | }
|
---|
| 31 |
|
---|
| 32 | class Ahrs_impl;
|
---|
| 33 |
|
---|
| 34 | namespace flair { namespace filter {
|
---|
| 35 | /*! \class Ahrs
|
---|
| 36 | *
|
---|
| 37 | * \brief Abstract class for AHRS
|
---|
| 38 | *
|
---|
| 39 | * Use this class to define a custom AHRS. This class is child
|
---|
| 40 | * of an Imu class, which will provide measurements. \n
|
---|
| 41 | *
|
---|
| 42 | */
|
---|
| 43 | class Ahrs : public core::IODevice {
|
---|
| 44 | public:
|
---|
| 45 | /*!
|
---|
| 46 | * \brief Constructor
|
---|
| 47 | *
|
---|
| 48 | * Construct an Ahrs.
|
---|
| 49 | *
|
---|
| 50 | * \param parent parent
|
---|
| 51 | * \param name name
|
---|
| 52 | */
|
---|
| 53 | Ahrs(const sensor::Imu* parent,std::string name);
|
---|
| 54 |
|
---|
| 55 | /*!
|
---|
| 56 | * \brief Destructor
|
---|
| 57 | *
|
---|
| 58 | */
|
---|
| 59 | ~Ahrs();
|
---|
| 60 |
|
---|
| 61 | /*!
|
---|
| 62 | * \brief Get parent Imu
|
---|
| 63 | *
|
---|
| 64 | * This function is identical to (Imu*)Parent()
|
---|
| 65 | */
|
---|
| 66 | const sensor::Imu *GetImu(void) const;
|
---|
| 67 |
|
---|
| 68 | /*!
|
---|
| 69 | * \brief Get ahrs datas
|
---|
| 70 | *
|
---|
| 71 | * \return AhrsData
|
---|
| 72 | */
|
---|
| 73 | const core::AhrsData *GetDatas(void) const;
|
---|
| 74 |
|
---|
| 75 | /*!
|
---|
| 76 | * \brief Lock the graphical user interface
|
---|
| 77 | *
|
---|
| 78 | * When locked, parameters cannot be modified.
|
---|
| 79 | *
|
---|
| 80 | */
|
---|
| 81 | void LockUserInterface(void) const;
|
---|
| 82 |
|
---|
| 83 | /*!
|
---|
| 84 | * \brief Unlock the graphical user interface
|
---|
| 85 | *
|
---|
| 86 | */
|
---|
| 87 | void UnlockUserInterface(void) const;
|
---|
| 88 |
|
---|
| 89 | /*!
|
---|
| 90 | * \brief Use default plot
|
---|
| 91 | *
|
---|
| 92 | * Plot the datas defined in imudata,
|
---|
| 93 | * and datas defined in Imu::imudata.
|
---|
| 94 | *
|
---|
| 95 | */
|
---|
| 96 | void UseDefaultPlot(void);
|
---|
| 97 |
|
---|
| 98 | /*!
|
---|
| 99 | * \brief Add plot
|
---|
| 100 | *
|
---|
| 101 | * Add plot of an AhrsData to the default plot
|
---|
| 102 | *
|
---|
| 103 | * \param ahrsData ahrs datas to plot
|
---|
| 104 | * \param color color to use
|
---|
| 105 | */
|
---|
| 106 | void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);
|
---|
| 107 |
|
---|
| 108 | /*!
|
---|
| 109 | * \brief Roll plot
|
---|
| 110 | *
|
---|
| 111 | * Use this plot to add own curves.
|
---|
| 112 | *
|
---|
| 113 | * \return plot
|
---|
| 114 | *
|
---|
| 115 | */
|
---|
| 116 | gui::DataPlot1D *RollPlot(void)const ;
|
---|
| 117 |
|
---|
| 118 | /*!
|
---|
| 119 | * \brief Pitch plot
|
---|
| 120 | *
|
---|
| 121 | * Use this plot to add own curves.
|
---|
| 122 | *
|
---|
| 123 | * \return plot
|
---|
| 124 | *
|
---|
| 125 | */
|
---|
| 126 | gui::DataPlot1D *PitchPlot(void) const;
|
---|
| 127 |
|
---|
| 128 | /*!
|
---|
| 129 | * \brief Yaw plot
|
---|
| 130 | *
|
---|
| 131 | * Use this plot to add own curves.
|
---|
| 132 | *
|
---|
| 133 | * \return plot
|
---|
| 134 | *
|
---|
| 135 | */
|
---|
| 136 | gui::DataPlot1D *YawPlot(void) const;
|
---|
| 137 |
|
---|
| 138 | /*!
|
---|
| 139 | * \brief Rotation speed around x axis plot
|
---|
| 140 | *
|
---|
| 141 | * Use this plot to add own curves.
|
---|
| 142 | *
|
---|
| 143 | * \return plot
|
---|
| 144 | *
|
---|
| 145 | */
|
---|
| 146 | gui::DataPlot1D *WXPlot(void) const;
|
---|
| 147 |
|
---|
| 148 | /*!
|
---|
| 149 | * \brief Rotation speed around y axis plot
|
---|
| 150 | *
|
---|
| 151 | * Use this plot to add own curves.
|
---|
| 152 | *
|
---|
| 153 | * \return plot
|
---|
| 154 | *
|
---|
| 155 | */
|
---|
| 156 | gui::DataPlot1D *WYPlot(void) const;
|
---|
| 157 |
|
---|
| 158 | /*!
|
---|
| 159 | * \brief Rotation speed around z axis plot
|
---|
| 160 | *
|
---|
| 161 | * Use this plot to add own curves.
|
---|
| 162 | *
|
---|
| 163 | * \return plot
|
---|
| 164 | *
|
---|
| 165 | */
|
---|
| 166 | gui::DataPlot1D *WZPlot(void) const;
|
---|
| 167 |
|
---|
| 168 | protected:
|
---|
| 169 | /*!
|
---|
| 170 | * \brief Get ahrs datas
|
---|
| 171 | *
|
---|
| 172 | * \param ahrsData ahrs datas
|
---|
| 173 | */
|
---|
| 174 | void GetDatas(core::AhrsData **ahrsData) const;
|
---|
| 175 |
|
---|
| 176 | private:
|
---|
| 177 | class Ahrs_impl *pimpl_;
|
---|
| 178 | };
|
---|
| 179 | } // end namespace filter
|
---|
| 180 | } // end namespace flair
|
---|
| 181 | #endif // AHRS_H
|
---|