source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.h @ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 5 years ago

filter and meta

File size: 1.6 KB
Line 
1/*!
2 * \file Gx3_25_ahrs.h
3 * \brief Class for 3dmgx3-25 ahrs
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2013/01/16
6 * \version 4.0
7 */
8
9#ifndef GX3_25_AHRS_H
10#define GX3_25_AHRS_H
11
12#include <Ahrs.h>
13#include <Gx3_25_imu.h>
14
15namespace flair
16{
17namespace filter
18{
19    /*! \class Gx3_25_ahrs
20    *
21    * \brief Class for 3dmgx3-25 ahrs
22    *
23    * This class constructs a Gx3_25_imu as Imu of this Ahrs.
24    */
25    class Gx3_25_ahrs : public Ahrs
26    {
27        public:
28            /*!
29            * \brief Constructor
30            *
31            * Construct an Ahrs for 3dmgx3-25
32            *
33            * \param parent parent
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(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,sensor::Gx3_25_imu::Command_t command,uint8_t priority);
40
41            /*!
42            * \brief Destructor
43            *
44            */
45            ~Gx3_25_ahrs();
46
47            /*!
48            * \brief Start Gx3_25_imu Thread
49            *
50            */
51            void Start(void);
52
53        private:
54            /*!
55            * \brief Update using provided datas
56            *
57            * Reimplemented from IODevice.
58            *
59            * \param data data from the parent to process
60            */
61            void UpdateFrom(const core::io_data *data);
62    };
63} // end namespace filter
64} // end namespace flair
65#endif // GX3_25_AHRS_H
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