source: flair-src/trunk/lib/FlairFilter/src/AhrsKalman.h

Last change on this file was 18, checked in by Sanahuja Guillaume, 6 years ago

ahrs kalman

File size: 1.4 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/*!
6 * \file AhrsKalman.h
7 * \brief Class defining an Ahrs Kalman filter
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/15
10 * \version 4.0
11 */
12
13#ifndef AHRSKALMAN_H
14#define AHRSKALMAN_H
15
16#include <Ahrs.h>
17
18namespace flair
19{
20    namespace sensor
21    {
22        class Imu;
23    }
24}
25
26class AhrsKalman_impl;
27
28namespace flair
29{
30namespace filter
31{
32    /*! \class AhrsKalman
33    *
34    * \brief Class defining an Ahrs Kalman filter
35    */
36    class AhrsKalman : public Ahrs
37    {
38        public:
39            /*!
40            * \brief Constructor
41            *
42            * Construct an AhrsKalman.
43            *
44            * \param parent parent
45            * \param name name
46            */
47            AhrsKalman(const sensor::Imu* parent,std::string name);
48
49            /*!
50            * \brief Destructor
51            *
52            */
53            ~AhrsKalman();
54
55        private:
56            /*!
57            * \brief Update using provided datas
58            *
59            * Reimplemented from IODevice.
60            *
61            * \param data data from the parent to process
62            */
63            void UpdateFrom(const core::io_data *data);
64            AhrsKalman_impl* pimpl_;
65    };
66} // end namespace filter
67} // end namespace flair
68#endif // AHRSKALMAN_H
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