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, 5 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
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