source: flair-src/trunk/lib/FlairFilter/src/SimuAhrs.cpp@ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 1.3 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// created: 2014/02/07
6// filename: SimuAhrs.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for a simulation ahrs
14//
15//
16/*********************************************************************/
17
18#include "SimuAhrs.h"
19#include "SimuImu.h"
20#include <AhrsData.h>
21
22using std::string;
23using namespace flair::core;
24using namespace flair::sensor;
25
26namespace flair {
27namespace filter {
28
29SimuAhrs::SimuAhrs(string name, uint32_t dev_id,
30 uint8_t priority)
31 : Ahrs(new SimuImu(name, dev_id, priority), name) {}
32
33SimuAhrs::~SimuAhrs() {}
34
35void SimuAhrs::Start(void) { ((SimuImu *)GetImu())->Start(); }
36
37// datas from SimuImu are AhrsData!
38void SimuAhrs::UpdateFrom(const io_data *data) {
39 AhrsData *input = (AhrsData *)data;
40 AhrsData *output;
41 GetDatas(&output);
42
43 Quaternion quaternion;
44 Vector3D filteredAngRates;
45 input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
46 output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
47 output->SetDataTime(input->DataTime());
48
49 ProcessUpdate(output);
50}
51
52} // end namespace filter
53} // end namespace flair
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