source: flair-src/trunk/lib/FlairFilter/src/SimuAhrs.cpp@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 7 years ago

filter and meta

File size: 1.2 KB
Line 
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
19using std::string;
20using namespace flair::core;
21using namespace flair::sensor;
22
23namespace flair { namespace filter {
24
25SimuAhrs::SimuAhrs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Ahrs(new SimuImu(parent,name,dev_id,priority),name) {
26}
27
28SimuAhrs::~SimuAhrs() {}
29
30void SimuAhrs::Start(void) {
31 ((SimuImu*)GetImu())->Start();
32}
33
34//datas from SimuImu are AhrsData!
35void 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
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