source: flair-src/trunk/lib/FlairFilter/src/SimuAhrs.h @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 1.2 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/*!
6 * \file SimuAhrs.h
7 * \brief Class for a simulation Ahrs
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMUAHRS_H
14#define SIMUAHRS_H
15
16#include <Ahrs.h>
17#include <stdint.h>
18
19namespace flair {
20namespace filter {
21/*! \class SimuAhrs
22*
23* \brief Class for a simulation Ahrs
24*
25* This class constructs a SimuImu as Imu of this Ahrs.
26*/
27class SimuAhrs : public filter::Ahrs {
28public:
29  /*!
30  * \brief Constructor
31  *
32  * Construct a simulation Ahrs. It will be child of the FrameworkManager.
33  *
34  * \param name name
35  * \param dev_id number id of the simulated Ahrs
36  * \param priority priority of the SimuImu Thread
37  */
38  SimuAhrs(std::string name,
39           uint32_t dev_id, uint8_t priority);
40
41  /*!
42  * \brief Destructor
43  *
44  */
45  ~SimuAhrs();
46
47private:
48  /*!
49  * \brief Update using provided datas
50  *
51  * Reimplemented from IODevice.
52  *
53  * \param data data from the parent to process
54  */
55  void UpdateFrom(const core::io_data *data);
56};
57} // end namespace filter
58} // end namespace flair
59#endif // SIMUAHRS_H
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