source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp @ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

lic

File size: 1.4 KB
RevLine 
[10]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}
[7]5//  created:    2013/01/16
6//  filename:   Gx3_25_ahrs.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    class for 3dmgx3-25 ahrs
14//
15//
16/*********************************************************************/
17
18#include "Gx3_25_ahrs.h"
19#include <FrameworkManager.h>
20#include <AhrsData.h>
21
22using std::string;
23using namespace flair::core;
24using namespace flair::sensor;
25
26namespace flair { namespace filter {
27
28Gx3_25_ahrs::Gx3_25_ahrs(const FrameworkManager* parent,string name,SerialPort *serialport,Gx3_25_imu::Command_t command,uint8_t priority) : Ahrs(new Gx3_25_imu(parent,name,serialport,command,priority),name) {
29}
30
31Gx3_25_ahrs::~Gx3_25_ahrs() {
32}
33
34void Gx3_25_ahrs::Start(void) {
35    ((Gx3_25_imu*)GetImu())->Start();
36}
37
38//datas from Gx3_25_imu are AhrsData!
39void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
40    AhrsData *input=(AhrsData*)data;
41    AhrsData *output;
42    GetDatas(&output);
43
44    Quaternion quaternion;
45    Vector3D filteredAngRates;
46    input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
47    output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
48    output->SetDataTime(input->DataTime());
49
50    ProcessUpdate(output);
51}
52
53} // end namespace filter
54} // end namespace flair
55
Note: See TracBrowser for help on using the repository browser.