[24] | 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 AhrsComplementaryFilter.h
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| 7 | * \brief Class defining an Ahrs Kalman filter
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| 8 | * \author Augustin Manecy (RT-MaG Toolbox author, augustin.manecy@gmail.com), API changes by Guillaume Sanahuja to fit the Flair framework
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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 |
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| 13 | #ifndef AHRSCOMPLEMENTARYFILTER_H
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| 14 | #define AHRSCOMPLEMENTARYFILTER_H
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| 15 |
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| 16 | #include <Ahrs.h>
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| 17 | #include <Vector3D.h>
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| 18 | #include <Quaternion.h>
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace sensor {
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| 22 | class Imu;
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| 23 | }
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| 24 | namespace gui {
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| 25 | class DoubleSpinBox;
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[198] | 26 | class Vector3DSpinBox;
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[24] | 27 | }
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| 28 | }
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| 29 |
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| 30 | namespace flair { namespace filter {
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| 31 | /*! \class AhrsComplementaryFilter
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| 32 | *
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| 33 | * \brief Class defining an Ahrs complementary filter
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| 34 | *
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| 35 | * Implementation from Augustin Manecy
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| 36 | */
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| 37 | class AhrsComplementaryFilter : public Ahrs {
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| 38 | public:
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| 39 | /*!
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| 40 | * \brief Constructor
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| 41 | *
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| 42 | * Construct an AhrsComplementaryFilter.
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| 43 | *
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| 44 | * \param parent parent
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| 45 | * \param name name
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| 46 | */
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| 47 | AhrsComplementaryFilter(const sensor::Imu* parent,std::string name);
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| 48 |
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| 49 | /*!
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| 50 | * \brief Destructor
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| 51 | *
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| 52 | */
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| 53 | ~AhrsComplementaryFilter();
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| 54 |
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| 55 | private:
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| 56 | /*!
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| 57 | * \brief Update using provided datas
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| 58 | *
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| 59 | * Reimplemented from IODevice.
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| 60 | *
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| 61 | * \param data data from the parent to process
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| 62 | */
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| 63 | void UpdateFrom(const core::io_data *data);
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| 64 |
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| 65 | core::Quaternion QHat;
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[167] | 66 | core::Vector3Df BHat;
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[24] | 67 | gui::DoubleSpinBox *ka[3];
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| 68 | gui::DoubleSpinBox *kb[3];
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[197] | 69 | gui::DoubleSpinBox *km[3];
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[198] | 70 | gui::Vector3DSpinBox *magRef;
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[24] | 71 | };
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| 72 | } // end namespace filter
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| 73 | } // end namespace flair
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| 74 | #endif // AHRSCOMPLEMENTARYFILTER_H
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