| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Gx3_25_imu.h
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| 7 | * \brief Class for 3dmgx3-25 Imu
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2011/08/19
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef GX3_25_IMU_H
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| 14 | #define GX3_25_IMU_H
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| 15 |
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| 16 | #include <Imu.h>
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| 17 | #include <Thread.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class FrameworkManager;
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| 22 | class SerialPort;
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| 23 | }
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| 24 | }
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| 25 |
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| 26 | class Gx3_25_imu_impl;
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| 27 |
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| 28 | namespace flair { namespace sensor {
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| 29 | /*! \class Gx3_25_imu
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| 30 | *
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| 31 | * \brief Class for 3dmgx3-25 Imu
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| 32 | */
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| 33 | class Gx3_25_imu : public Imu, public core::Thread {
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| 34 | friend class ::Gx3_25_imu_impl;
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| 35 |
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| 36 | public:
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| 37 | /*!
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| 38 | \enum Command_t
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| 39 | \brief Command for the continuous mode
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| 40 | */
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| 41 | enum Command_t{
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| 42 | EulerAnglesAndAngularRates=0xcf,/*!< Euler angles and angular rates */
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| 43 | AccelerationAngularRateAndOrientationMatrix=0xc8,/*!< Acceleration, angular rate and orientation matrix */
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| 44 | };
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| 45 |
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| 46 | /*!
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| 47 | * \brief Constructor
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| 48 | *
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| 49 | * Construct a Gx3_25_imu.
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| 50 | *
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| 51 | * \param parent parent
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| 52 | * \param name name
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| 53 | * \param serialport SerialPort
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| 54 | * \param command command for continuous mode
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| 55 | * \param priority priority of the Thread
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| 56 | */
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| 57 | Gx3_25_imu(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Command_t command,uint8_t priority);
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| 58 |
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| 59 | /*!
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| 60 | * \brief Destructor
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| 61 | *
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| 62 | */
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| 63 | ~Gx3_25_imu();
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| 64 |
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| 65 | private:
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| 66 | /*!
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| 67 | * \brief Run function
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| 68 | *
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| 69 | * Reimplemented from Thread.
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| 70 | *
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| 71 | */
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| 72 | void Run(void);
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| 73 |
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| 74 | /*!
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| 75 | * \brief Update using provided datas
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| 76 | *
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| 77 | * Reimplemented from IODevice.
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| 78 | *
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| 79 | * \param data data from the parent to process
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| 80 | */
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| 81 | void UpdateFrom(const core::io_data *data){};
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| 82 |
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| 83 | class Gx3_25_imu_impl* pimpl_;
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| 84 | };
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| 85 | } // end namespace sensor
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| 86 | } // end namespace flair
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| 87 |
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| 88 | #endif // GX3_25_IMU_H
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