source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 1.5 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]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 <AhrsData.h>
[99]20#include <OneAxisRotation.h>
[7]21
22using std::string;
23using namespace flair::core;
24using namespace flair::sensor;
25
[15]26namespace flair {
27namespace filter {
[7]28
[137]29Gx3_25_ahrs::Gx3_25_ahrs(string name,
[15]30                         SerialPort *serialport, Gx3_25_imu::Command_t command,
31                         uint8_t priority)
[157]32    : Ahrs(new Gx3_25_imu( name, serialport, command, priority), name) {
[7]33
[157]34  SetIsReady(true);
35}
36
[15]37Gx3_25_ahrs::~Gx3_25_ahrs() {}
[7]38
[15]39// datas from Gx3_25_imu are AhrsData!
[7]40void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
[15]41  AhrsData *input = (AhrsData *)data;
42  AhrsData *output;
43  GetDatas(&output);
[7]44
[15]45  Quaternion quaternion;
[167]46  Vector3Df filteredAngRates;
[15]47  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
[99]48  GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
49  GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
[15]50  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
51  output->SetDataTime(input->DataTime());
[7]52
[15]53  ProcessUpdate(output);
[7]54}
55
56} // end namespace filter
57} // end namespace flair
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