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 | // 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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27 | namespace flair { namespace filter {
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28 |
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29 | SimuAhrs::SimuAhrs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Ahrs(new SimuImu(parent,name,dev_id,priority),name) {
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30 | }
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31 |
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32 | SimuAhrs::~SimuAhrs() {}
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33 |
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34 | void SimuAhrs::Start(void) {
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35 | ((SimuImu*)GetImu())->Start();
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36 | }
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37 |
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38 | //datas from SimuImu are AhrsData!
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39 | void SimuAhrs::UpdateFrom(const io_data *data) {
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40 | AhrsData *input=(AhrsData*)data;
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41 | AhrsData *output;
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42 | GetDatas(&output);
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43 |
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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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49 |
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50 | ProcessUpdate(output);
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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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