source: flair-src/trunk/lib/FlairSensorActuator/src/Gx3_25_imu.cpp@ 4

Last change on this file since 4 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 1.4 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: 2011/08/19
6// filename: Gx3_25_imu.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant la centrale 3dmgx3-25
14//
15//
16/*********************************************************************/
17
18#include "Gx3_25_imu.h"
19#include <FrameworkManager.h>
20#include "Gx3_25_imu_impl.h"
21#include <GroupBox.h>
22#include <ImuData.h>
23
24using std::string;
25using namespace flair::core;
26
27namespace flair { namespace sensor {
28
29Gx3_25_imu::Gx3_25_imu(const FrameworkManager* parent,string name,SerialPort* serialport,Command_t command,uint8_t priority) : Imu(parent,name),Thread(parent,name,priority) {
30 pimpl_=new Gx3_25_imu_impl(this,name,serialport,command,GetGroupBox());
31
32 if(command==EulerAnglesAndAngularRates) {
33
34 } else if(command==AccelerationAngularRateAndOrientationMatrix) {
35 Thread::Err("oneaxis rotation of rotation matrix is not yet implemented\n");
36 } else {
37 Thread::Err("command not supported (%i)\n",command);
38 }
39 //AddDataToLog(imudata);
40}
41
42Gx3_25_imu::~Gx3_25_imu() {
43 SafeStop();
44 Join();
45 delete pimpl_;
46}
47
48void Gx3_25_imu::Run(void) {
49 pimpl_->Run();
50}
51
52} // end namespace sensor
53} // end namespace flair
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