| 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 | // 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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| 32 | namespace flair { namespace sensor {
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| 33 |
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| 34 | Imu::Imu(const FrameworkManager* parent,string name) : IODevice(parent,name) {
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| 35 | imuData=new ImuData(this);
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| 36 |
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| 37 | //station sol
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| 38 | mainTab=new Tab(parent->GetTabWidget(),name);
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| 39 | tab=new TabWidget(mainTab->NewRow(),name);
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| 40 | sensorTab=new Tab(tab,"Reglages");
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| 41 | setupGroupbox=new GroupBox(sensorTab->NewRow(),name);
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| 42 | rotation=new OneAxisRotation(sensorTab->NewRow(),"post rotation");
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| 43 | }
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| 44 |
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| 45 | Imu::Imu(const IODevice* parent,std::string name) : IODevice(parent,name) {
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| 46 | imuData=new ImuData(this);
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| 47 | mainTab=NULL;
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| 48 | tab=NULL;
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| 49 | sensorTab=NULL;
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| 50 | setupGroupbox=NULL;
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| 51 | rotation=NULL;
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| 52 | }
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| 53 |
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| 54 | Imu::~Imu() {
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| 55 | if(mainTab!=NULL) delete mainTab;
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| 56 | }
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| 57 |
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| 58 | void Imu::GetDatas(ImuData **outImuData) const {
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| 59 | *outImuData=imuData;
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| 60 | }
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| 61 | void Imu::UpdateImu() {
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| 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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| 72 | }
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| 73 |
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| 74 | GroupBox* Imu::GetGroupBox(void) const {
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| 75 | return setupGroupbox;
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| 76 | }
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| 77 |
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| 78 | Layout* Imu::GetLayout(void) const {
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| 79 | return sensorTab;
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| 80 | }
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| 81 |
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| 82 | void Imu::LockUserInterface(void) const {
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| 83 | if(sensorTab==NULL) {
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| 84 | Err("not applicable for simulation part.\n");
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| 85 | return;
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| 86 | }
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| 87 | sensorTab->setEnabled(false);
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| 88 | }
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| 89 |
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| 90 | void Imu::UnlockUserInterface(void) const {
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| 91 | if(sensorTab==NULL) {
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| 92 | Err("not applicable for simulation part.\n");
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| 93 | return;
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| 94 | }
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| 95 | sensorTab->setEnabled(true);
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| 96 | }
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| 97 |
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| 98 | void Imu::UseDefaultPlot(void) {
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| 99 | if(tab==NULL) {
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| 100 | Err("not applicable for simulation part.\n");
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| 101 | return;
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| 102 | }
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| 103 |
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| 104 | plotTab=new Tab(tab,"IMU");
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| 105 | axPlot=new DataPlot1D(plotTab->NewRow(),"acc_x",-10,10);
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| 106 | axPlot->AddCurve(imuData->Element(ImuData::RawAx));
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| 107 | ayPlot=new DataPlot1D(plotTab->LastRowLastCol(),"acc_y",-10,10);
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| 108 | ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
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| 109 | azPlot=new DataPlot1D(plotTab->LastRowLastCol(),"acc_z",-10,10);
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| 110 | azPlot->AddCurve(imuData->Element(ImuData::RawAz));
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| 111 |
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| 112 | if(plotTab==NULL) plotTab=new Tab(tab,"IMU");
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| 113 | gxPlot=new DataPlot1D(plotTab->NewRow(),"gyr_x",-500,500);
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| 114 | gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
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| 115 | gyPlot=new DataPlot1D(plotTab->LastRowLastCol(),"gyr_y",-500,500);
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| 116 | gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
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| 117 | gzPlot=new DataPlot1D(plotTab->LastRowLastCol(),"gyr_z",-500,500);
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| 118 | gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
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| 119 |
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| 120 | if(plotTab==NULL) plotTab=new Tab(tab,"IMU");
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| 121 | mxPlot=new DataPlot1D(plotTab->NewRow(),"mag_x",-500,500);
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| 122 | mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
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| 123 | myPlot=new DataPlot1D(plotTab->LastRowLastCol(),"mag_y",-500,500);
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| 124 | myPlot->AddCurve(imuData->Element(ImuData::RawMy));
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| 125 | mzPlot=new DataPlot1D(plotTab->LastRowLastCol(),"mag_z",-500,500);
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| 126 | mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
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| 127 | }
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| 128 |
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| 129 | Tab* Imu::GetPlotTab(void) const {
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| 130 | return plotTab;
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| 131 | }
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| 132 |
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| 133 | } // end namespace sensor
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| 134 | } // end namespace flair
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