source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.h @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 1.3 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
49private:
50  /*!
51  * \brief Update using provided datas
52  *
53  * Reimplemented from IODevice.
54  *
55  * \param data data from the parent to process
56  */
57  void UpdateFrom(const core::io_data *data);
58};
59} // end namespace filter
60} // end namespace flair
61#endif // GX3_25_AHRS_H
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