[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2014/02/07
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| 6 | // filename: SimuAhrs.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Class for a simulation ahrs
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "SimuAhrs.h"
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| 19 | #include "SimuImu.h"
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <AhrsData.h>
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| 22 |
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| 23 | using std::string;
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| 24 | using namespace flair::core;
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| 25 | using namespace flair::sensor;
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| 26 |
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[15] | 27 | namespace flair {
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| 28 | namespace filter {
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[7] | 29 |
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[15] | 30 | SimuAhrs::SimuAhrs(const FrameworkManager *parent, string name, uint32_t dev_id,
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| 31 | uint8_t priority)
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| 32 | : Ahrs(new SimuImu(parent, name, dev_id, priority), name) {}
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[7] | 33 |
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| 34 | SimuAhrs::~SimuAhrs() {}
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| 35 |
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[15] | 36 | void SimuAhrs::Start(void) { ((SimuImu *)GetImu())->Start(); }
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[7] | 37 |
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[15] | 38 | // datas from SimuImu are AhrsData!
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[7] | 39 | void SimuAhrs::UpdateFrom(const io_data *data) {
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[15] | 40 | AhrsData *input = (AhrsData *)data;
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| 41 | AhrsData *output;
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| 42 | GetDatas(&output);
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[7] | 43 |
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[15] | 44 | Quaternion quaternion;
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| 45 | Vector3D filteredAngRates;
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| 46 | input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
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| 47 | output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
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| 48 | output->SetDataTime(input->DataTime());
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[7] | 49 |
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[15] | 50 | ProcessUpdate(output);
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[7] | 51 | }
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| 52 |
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| 53 | } // end namespace filter
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| 54 | } // end namespace flair
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