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
RevLine 
[18]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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