[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2014/01/16
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| 6 | // filename: Imu.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Virtual class for Imu
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Imu.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <Tab.h>
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| 21 | #include <TabWidget.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <GridLayout.h>
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| 24 | #include <DataPlot1D.h>
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| 25 | #include <ImuData.h>
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| 26 | #include <OneAxisRotation.h>
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 |
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[15] | 32 | namespace flair {
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| 33 | namespace sensor {
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[3] | 34 |
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[15] | 35 | Imu::Imu(const FrameworkManager *parent, string name) : IODevice(parent, name) {
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| 36 | imuData = new ImuData(this);
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[3] | 37 |
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[15] | 38 | // station sol
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| 39 | mainTab = new Tab(parent->GetTabWidget(), name);
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| 40 | tab = new TabWidget(mainTab->NewRow(), name);
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| 41 | sensorTab = new Tab(tab, "Reglages");
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| 42 | setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
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| 43 | rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation");
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[3] | 44 | }
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| 45 |
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[15] | 46 | Imu::Imu(const IODevice *parent, std::string name) : IODevice(parent, name) {
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| 47 | imuData = new ImuData(this);
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| 48 | mainTab = NULL;
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| 49 | tab = NULL;
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| 50 | sensorTab = NULL;
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| 51 | setupGroupbox = NULL;
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| 52 | rotation = NULL;
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[3] | 53 | }
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| 54 |
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| 55 | Imu::~Imu() {
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[15] | 56 | if (mainTab != NULL)
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| 57 | delete mainTab;
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[3] | 58 | }
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| 59 |
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[15] | 60 | void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
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[3] | 61 | void Imu::UpdateImu() {
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[15] | 62 | if (rotation == NULL) {
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| 63 | Err("not applicable for simulation part.\n");
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| 64 | return;
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| 65 | }
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| 66 | Vector3D rawAcc, rawMag, rawGyr;
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| 67 | imuData->GetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
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| 68 | rotation->ComputeRotation(rawAcc);
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| 69 | rotation->ComputeRotation(rawGyr);
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| 70 | rotation->ComputeRotation(rawMag);
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| 71 | imuData->SetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
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[3] | 72 | }
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| 73 |
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[15] | 74 | GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
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[3] | 75 |
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[15] | 76 | Layout *Imu::GetLayout(void) const { return sensorTab; }
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[3] | 77 |
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| 78 | void Imu::LockUserInterface(void) const {
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[15] | 79 | if (sensorTab == NULL) {
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| 80 | Err("not applicable for simulation part.\n");
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| 81 | return;
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| 82 | }
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| 83 | sensorTab->setEnabled(false);
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[3] | 84 | }
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| 85 |
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| 86 | void Imu::UnlockUserInterface(void) const {
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[15] | 87 | if (sensorTab == NULL) {
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| 88 | Err("not applicable for simulation part.\n");
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| 89 | return;
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| 90 | }
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| 91 | sensorTab->setEnabled(true);
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[3] | 92 | }
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| 93 |
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| 94 | void Imu::UseDefaultPlot(void) {
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[15] | 95 | if (tab == NULL) {
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| 96 | Err("not applicable for simulation part.\n");
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| 97 | return;
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| 98 | }
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[3] | 99 |
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[15] | 100 | plotTab = new Tab(tab, "IMU");
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| 101 | axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
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| 102 | axPlot->AddCurve(imuData->Element(ImuData::RawAx));
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| 103 | ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
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| 104 | ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
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| 105 | azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
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| 106 | azPlot->AddCurve(imuData->Element(ImuData::RawAz));
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[3] | 107 |
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[15] | 108 | if (plotTab == NULL)
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| 109 | plotTab = new Tab(tab, "IMU");
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| 110 | gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
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| 111 | gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
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| 112 | gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
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| 113 | gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
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| 114 | gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
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| 115 | gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
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[3] | 116 |
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[15] | 117 | if (plotTab == NULL)
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| 118 | plotTab = new Tab(tab, "IMU");
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| 119 | mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
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| 120 | mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
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| 121 | myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
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| 122 | myPlot->AddCurve(imuData->Element(ImuData::RawMy));
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| 123 | mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
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| 124 | mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
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[3] | 125 | }
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| 126 |
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[15] | 127 | Tab *Imu::GetPlotTab(void) const { return plotTab; }
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[3] | 128 |
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| 129 | } // end namespace sensor
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| 130 | } // end namespace flair
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