Last change
on this file since 7 was 7, checked in by Sanahuja Guillaume, 8 years ago |
filter and meta
|
File size:
1.2 KB
|
Rev | Line | |
---|
[7] | 1 | // created: 2014/02/07
|
---|
| 2 | // filename: SimuAhrs.cpp
|
---|
| 3 | //
|
---|
| 4 | // author: Guillaume Sanahuja
|
---|
| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 6 | //
|
---|
| 7 | // version: $Id: $
|
---|
| 8 | //
|
---|
| 9 | // purpose: Class for a simulation ahrs
|
---|
| 10 | //
|
---|
| 11 | //
|
---|
| 12 | /*********************************************************************/
|
---|
| 13 |
|
---|
| 14 | #include "SimuAhrs.h"
|
---|
| 15 | #include "SimuImu.h"
|
---|
| 16 | #include <FrameworkManager.h>
|
---|
| 17 | #include <AhrsData.h>
|
---|
| 18 |
|
---|
| 19 | using std::string;
|
---|
| 20 | using namespace flair::core;
|
---|
| 21 | using namespace flair::sensor;
|
---|
| 22 |
|
---|
| 23 | namespace flair { namespace filter {
|
---|
| 24 |
|
---|
| 25 | SimuAhrs::SimuAhrs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Ahrs(new SimuImu(parent,name,dev_id,priority),name) {
|
---|
| 26 | }
|
---|
| 27 |
|
---|
| 28 | SimuAhrs::~SimuAhrs() {}
|
---|
| 29 |
|
---|
| 30 | void SimuAhrs::Start(void) {
|
---|
| 31 | ((SimuImu*)GetImu())->Start();
|
---|
| 32 | }
|
---|
| 33 |
|
---|
| 34 | //datas from SimuImu are AhrsData!
|
---|
| 35 | void SimuAhrs::UpdateFrom(const io_data *data) {
|
---|
| 36 | AhrsData *input=(AhrsData*)data;
|
---|
| 37 | AhrsData *output;
|
---|
| 38 | GetDatas(&output);
|
---|
| 39 |
|
---|
| 40 | Quaternion quaternion;
|
---|
| 41 | Vector3D filteredAngRates;
|
---|
| 42 | input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
|
---|
| 43 | output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
|
---|
| 44 | output->SetDataTime(input->DataTime());
|
---|
| 45 |
|
---|
| 46 | ProcessUpdate(output);
|
---|
| 47 | }
|
---|
| 48 |
|
---|
| 49 | } // end namespace filter
|
---|
| 50 | } // end namespace flair
|
---|
Note:
See
TracBrowser
for help on using the repository browser.