source: flair-src/trunk/lib/FlairFilter/src/AhrsKalman.cpp @ 18

Last change on this file since 18 was 18, checked in by Sanahuja Guillaume, 5 years ago

ahrs kalman

File size: 1.1 KB
Line 
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:    2014/01/15
6//  filename:   AhrsKalman.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining an Ahrs Kalman filter
14//
15//
16/*********************************************************************/
17
18#include "AhrsKalman.h"
19#include "AhrsKalman_impl.h"
20#include <Imu.h>
21#include <AhrsData.h>
22
23using std::string;
24using namespace flair::core;
25using namespace flair::sensor;
26
27namespace flair { namespace filter {
28
29AhrsKalman::AhrsKalman(const Imu* parent,string name): Ahrs(parent,name) {
30    AhrsData* ahrsData;
31    GetDatas(&ahrsData);
32    pimpl_=new AhrsKalman_impl(parent->GetLayout(),ahrsData);
33}
34
35AhrsKalman::~AhrsKalman() {
36    delete pimpl_;
37}
38
39void AhrsKalman::UpdateFrom(const io_data *data) {
40    pimpl_->UpdateFrom(data);
41    AhrsData* ahrsData;
42    GetDatas(&ahrsData);
43    ProcessUpdate(ahrsData);
44}
45
46} // end namespace filter
47} // end namespace flair
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