Last change
on this file since 450 was 417, checked in by Sanahuja Guillaume, 3 years ago |
define and use passthrough ahrs
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Property svn:eol-style
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native
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File size:
1.2 KB
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[417] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file PassthroughAhrs.h
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| 7 | * \brief Class for passthrough imu to ahrs. When imu can already delivers ahrs datas
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2021/04/15
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef PASSTHROUGHAHRS_H
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| 14 | #define PASSTHROUGHAHRS_H
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| 15 |
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| 16 | #include <Ahrs.h>
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| 17 |
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| 18 | namespace flair {
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| 19 | namespace sensor {
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| 20 | class Imu;
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| 21 | }
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| 22 | }
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| 23 |
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| 24 | namespace flair {
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| 25 | namespace filter {
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| 26 | /*! \class PassthroughAhrs
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| 27 | *
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| 28 | * \brief Class for passthrough imu to ahrs. When imu can already delivers ahrs datas
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| 29 | *
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| 30 | */
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| 31 | class PassthroughAhrs : public Ahrs {
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| 32 | public:
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| 33 | /*!
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| 34 | * \brief Constructor
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| 35 | *
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| 36 | * Construct a PassthroughAhrs
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| 37 | *
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| 38 | * \param imu Imu
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| 39 | * \param name name
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| 40 | */
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| 41 | PassthroughAhrs(sensor::Imu* imu,std::string name);
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| 42 |
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| 43 | /*!
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| 44 | * \brief Destructor
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| 45 | *
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| 46 | */
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| 47 | ~PassthroughAhrs();
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| 48 |
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| 49 | private:
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| 50 | /*!
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| 51 | * \brief Update using provided datas
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| 52 | *
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| 53 | * Reimplemented from IODevice.
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| 54 | *
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| 55 | * \param data data from the parent to process
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| 56 | */
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| 57 | void UpdateFrom(const core::io_data *data);
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| 58 | };
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| 59 | } // end namespace filter
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| 60 | } // end namespace flair
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| 61 | #endif // PASSTHROUGHAHRS_H
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