source: flair-src/trunk/lib/FlairFilter/src/PassthroughAhrs.h

Last change on this file was 417, checked in by Sanahuja Guillaume, 8 months ago

define and use passthrough ahrs

  • Property svn:eol-style set to native
File size: 1.2 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 PassthroughAhrs.h
7 * \brief Class for passthrough imu to ahrs. When imu can already delivers ahrs datas
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2021/04/15
10 * \version 4.0
11 */
12
13#ifndef PASSTHROUGHAHRS_H
14#define PASSTHROUGHAHRS_H
15
16#include <Ahrs.h>
17
18namespace flair {
19  namespace sensor {
20    class Imu;
21  }
22}
23
24namespace flair {
25namespace filter {
26/*! \class PassthroughAhrs
27*
28* \brief Class for passthrough imu to ahrs. When imu can already delivers ahrs datas
29*
30*/
31class PassthroughAhrs : public Ahrs {
32public:
33  /*!
34  * \brief Constructor
35  *
36  * Construct a PassthroughAhrs
37  *
38  * \param imu Imu
39  * \param name name
40  */
41  PassthroughAhrs(sensor::Imu* imu,std::string name);
42
43  /*!
44  * \brief Destructor
45  *
46  */
47  ~PassthroughAhrs();
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 // PASSTHROUGHAHRS_H
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