source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp@ 99

Last change on this file since 99 was 99, checked in by Sanahuja Guillaume, 6 years ago

rotation pour 3dmgx3

File size: 1.6 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// 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#include <OneAxisRotation.h>
22
23using std::string;
24using namespace flair::core;
25using namespace flair::sensor;
26
27namespace flair {
28namespace filter {
29
30Gx3_25_ahrs::Gx3_25_ahrs(const FrameworkManager *parent, string name,
31 SerialPort *serialport, Gx3_25_imu::Command_t command,
32 uint8_t priority)
33 : Ahrs(new Gx3_25_imu(parent, name, serialport, command, priority), name) {}
34
35Gx3_25_ahrs::~Gx3_25_ahrs() {}
36
37void Gx3_25_ahrs::Start(void) { ((Gx3_25_imu *)GetImu())->Start(); }
38
39// datas from Gx3_25_imu are AhrsData!
40void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
41 AhrsData *input = (AhrsData *)data;
42 AhrsData *output;
43 GetDatas(&output);
44
45 Quaternion quaternion;
46 Vector3D filteredAngRates;
47 input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
48 GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
49 GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
50 output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
51 output->SetDataTime(input->DataTime());
52
53 ProcessUpdate(output);
54}
55
56} // end namespace filter
57} // end namespace flair
Note: See TracBrowser for help on using the repository browser.