source: flair-src/trunk/lib/FlairFilter/src/Ahrs.h@ 24

Last change on this file since 24 was 15, checked in by Bayard Gildas, 6 years ago

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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/*!
6 * \file Ahrs.h
7 * \brief Abstract class for AHRS
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/14
10 * \version 4.0
11 */
12
13#ifndef AHRS_H
14#define AHRS_H
15
16#include <IODevice.h>
17#include <DataPlot.h>
18
19namespace flair {
20namespace core {
21class Euler;
22class Vector3D;
23class ImuData;
24class Quaternion;
25class AhrsData;
26}
27namespace gui {
28class Tab;
29class DataPlot1D;
30}
31namespace sensor {
32class Imu;
33}
34}
35
36class Ahrs_impl;
37
38namespace flair {
39namespace filter {
40/*! \class Ahrs
41*
42* \brief Abstract class for AHRS
43*
44* Use this class to define a custom AHRS. This class is child
45* of an Imu class, which will provide measurements. \n
46*
47*/
48class Ahrs : public core::IODevice {
49public:
50 /*!
51 * \brief Constructor
52 *
53 * Construct an Ahrs.
54 *
55 * \param parent parent
56 * \param name name
57 */
58 Ahrs(const sensor::Imu *parent, std::string name);
59
60 /*!
61 * \brief Destructor
62 *
63 */
64 ~Ahrs();
65
66 /*!
67 * \brief Get parent Imu
68 *
69 * This function is identical to (Imu*)Parent()
70 */
71 const sensor::Imu *GetImu(void) const;
72
73 /*!
74 * \brief Get ahrs datas
75 *
76 * \return AhrsData
77 */
78 const core::AhrsData *GetDatas(void) const;
79
80 /*!
81 * \brief Lock the graphical user interface
82 *
83 * When locked, parameters cannot be modified.
84 *
85 */
86 void LockUserInterface(void) const;
87
88 /*!
89 * \brief Unlock the graphical user interface
90 *
91 */
92 void UnlockUserInterface(void) const;
93
94 /*!
95 * \brief Use default plot
96 *
97 * Plot the datas defined in imudata,
98 * and datas defined in Imu::imudata.
99 *
100 */
101 void UseDefaultPlot(void);
102
103 /*!
104 * \brief Add plot
105 *
106 * Add plot of an AhrsData to the default plot
107 *
108 * \param ahrsData ahrs datas to plot
109 * \param color color to use
110 */
111 void AddPlot(const core::AhrsData *ahrsData, gui::DataPlot::Color_t color);
112
113 /*!
114 * \brief Roll plot
115 *
116 * Use this plot to add own curves.
117 *
118 * \return plot
119 *
120 */
121 gui::DataPlot1D *RollPlot(void) const;
122
123 /*!
124 * \brief Pitch plot
125 *
126 * Use this plot to add own curves.
127 *
128 * \return plot
129 *
130 */
131 gui::DataPlot1D *PitchPlot(void) const;
132
133 /*!
134 * \brief Yaw plot
135 *
136 * Use this plot to add own curves.
137 *
138 * \return plot
139 *
140 */
141 gui::DataPlot1D *YawPlot(void) const;
142
143 /*!
144 * \brief Rotation speed around x axis plot
145 *
146 * Use this plot to add own curves.
147 *
148 * \return plot
149 *
150 */
151 gui::DataPlot1D *WXPlot(void) const;
152
153 /*!
154 * \brief Rotation speed around y axis plot
155 *
156 * Use this plot to add own curves.
157 *
158 * \return plot
159 *
160 */
161 gui::DataPlot1D *WYPlot(void) const;
162
163 /*!
164 * \brief Rotation speed around z axis plot
165 *
166 * Use this plot to add own curves.
167 *
168 * \return plot
169 *
170 */
171 gui::DataPlot1D *WZPlot(void) const;
172
173protected:
174 /*!
175 * \brief Get ahrs datas
176 *
177 * \param ahrsData ahrs datas
178 */
179 void GetDatas(core::AhrsData **ahrsData) const;
180
181private:
182 class Ahrs_impl *pimpl_;
183};
184} // end namespace filter
185} // end namespace flair
186#endif // AHRS_H
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