source: flair-src/trunk/lib/FlairIpc/src/IpcAhrs.cpp@ 397

Last change on this file since 397 was 397, checked in by Sanahuja Guillaume, 19 months ago

add ipc lib

  • Property svn:eol-style set to native
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: 2021/03/03
6// filename: IpcdAhrs.cpp
7//
8// author: Sébastien Ambroziak
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for an ipc ahrs
14//
15//
16/*********************************************************************/
17
18
19#include "IpcAhrs.h"
20#include "IpcImu.h"
21#include <AhrsData.h>
22
23using std::string;
24using namespace flair::core;
25using namespace flair::sensor;
26
27namespace flair {
28namespace filter {
29
30IpcAhrs::IpcAhrs(string name, uint8_t priority, const char* ipc_name, int ipc_channel)
31 : Ahrs(new IpcImu("imu", priority, ipc_name, ipc_channel, false), name) {
32 SetIsReady(true);
33}
34
35IpcAhrs::~IpcAhrs() {}
36
37// datas from IpcImu are AhrsData!
38void IpcAhrs::UpdateFrom(const io_data *data) {
39 AhrsData *input = (AhrsData *)data;
40 AhrsData *output;
41 GetDatas(&output);
42
43 Quaternion quaternion;
44 Vector3Df 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
54
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