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, 7 years ago

lic

File size: 1.4 KB
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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: 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
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