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

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

sensoractuator

File size: 2.2 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 Gx3_25_imu.h
7 * \brief Class for 3dmgx3-25 Imu
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/08/19
10 * \version 4.0
11 */
12
13#ifndef GX3_25_IMU_H
14#define GX3_25_IMU_H
15
16#include <Imu.h>
17#include <Thread.h>
18
19namespace flair {
20 namespace core {
21 class FrameworkManager;
22 class SerialPort;
23 }
24}
25
26class Gx3_25_imu_impl;
27
28namespace flair { namespace sensor {
29 /*! \class Gx3_25_imu
30 *
31 * \brief Class for 3dmgx3-25 Imu
32 */
33 class Gx3_25_imu : public Imu, public core::Thread {
34 friend class ::Gx3_25_imu_impl;
35
36 public:
37 /*!
38 \enum Command_t
39 \brief Command for the continuous mode
40 */
41 enum Command_t{
42 EulerAnglesAndAngularRates=0xcf,/*!< Euler angles and angular rates */
43 AccelerationAngularRateAndOrientationMatrix=0xc8,/*!< Acceleration, angular rate and orientation matrix */
44 };
45
46 /*!
47 * \brief Constructor
48 *
49 * Construct a Gx3_25_imu.
50 *
51 * \param parent parent
52 * \param name name
53 * \param serialport SerialPort
54 * \param command command for continuous mode
55 * \param priority priority of the Thread
56 */
57 Gx3_25_imu(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Command_t command,uint8_t priority);
58
59 /*!
60 * \brief Destructor
61 *
62 */
63 ~Gx3_25_imu();
64
65 private:
66 /*!
67 * \brief Run function
68 *
69 * Reimplemented from Thread.
70 *
71 */
72 void Run(void);
73
74 /*!
75 * \brief Update using provided datas
76 *
77 * Reimplemented from IODevice.
78 *
79 * \param data data from the parent to process
80 */
81 void UpdateFrom(const core::io_data *data){};
82
83 class Gx3_25_imu_impl* pimpl_;
84 };
85} // end namespace sensor
86} // end namespace flair
87
88#endif // GX3_25_IMU_H
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