source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.h@ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 1.4 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/*!
6 * \file Gx3_25_ahrs.h
7 * \brief Class for 3dmgx3-25 ahrs
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/01/16
10 * \version 4.0
11 */
12
13#ifndef GX3_25_AHRS_H
14#define GX3_25_AHRS_H
15
16#include <Ahrs.h>
17#include <Gx3_25_imu.h>
18
19namespace flair {
20namespace filter {
21/*! \class Gx3_25_ahrs
22*
23* \brief Class for 3dmgx3-25 ahrs
24*
25* This class constructs a Gx3_25_imu as Imu of this Ahrs.
26*/
27class Gx3_25_ahrs : public Ahrs {
28public:
29 /*!
30 * \brief Constructor
31 *
32 * Construct an Ahrs for 3dmgx3-25. It will be child of the FrameworkManager.
33 *
34 * \param name name
35 * \param serialport Imu SerialPort
36 * \param command command for the Gx3_25_imu continuous mode
37 * \param priority priority of the Gx3_25_imu Thread
38 */
39 Gx3_25_ahrs(std::string name,
40 core::SerialPort *serialport,
41 sensor::Gx3_25_imu::Command_t command, uint8_t priority);
42
43 /*!
44 * \brief Destructor
45 *
46 */
47 ~Gx3_25_ahrs();
48
49 /*!
50 * \brief Start Gx3_25_imu Thread
51 *
52 */
53 void Start(void);
54
55private:
56 /*!
57 * \brief Update using provided datas
58 *
59 * Reimplemented from IODevice.
60 *
61 * \param data data from the parent to process
62 */
63 void UpdateFrom(const core::io_data *data);
64};
65} // end namespace filter
66} // end namespace flair
67#endif // GX3_25_AHRS_H
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