source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.cpp @ 98

Last change on this file since 98 was 55, checked in by Sanahuja Guillaume, 5 years ago

simu gps

File size: 3.8 KB
RevLine 
[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5//  created:    2014/01/16
6//  filename:   Imu.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Virtual class for Imu
14//
15//
16/*********************************************************************/
17
18#include "Imu.h"
19#include <FrameworkManager.h>
20#include <Tab.h>
21#include <TabWidget.h>
22#include <GroupBox.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <ImuData.h>
26#include <OneAxisRotation.h>
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
[15]32namespace flair {
33namespace sensor {
[3]34
[15]35Imu::Imu(const FrameworkManager *parent, string name) : IODevice(parent, name) {
36  imuData = new ImuData(this);
[3]37
[15]38  // station sol
39  mainTab = new Tab(parent->GetTabWidget(), name);
40  tab = new TabWidget(mainTab->NewRow(), name);
41  sensorTab = new Tab(tab, "Reglages");
42  setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
43  rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation");
[3]44}
45
[15]46Imu::Imu(const IODevice *parent, std::string name) : IODevice(parent, name) {
47  imuData = new ImuData(this);
48  mainTab = NULL;
49  tab = NULL;
50  sensorTab = NULL;
51  setupGroupbox = NULL;
52  rotation = NULL;
[3]53}
54
55Imu::~Imu() {
[15]56  if (mainTab != NULL)
57    delete mainTab;
[3]58}
59
[15]60void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
[55]61
[3]62void Imu::UpdateImu() {
[15]63  if (rotation == NULL) {
64    Err("not applicable for simulation part.\n");
65    return;
66  }
67  Vector3D rawAcc, rawMag, rawGyr;
68  imuData->GetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
69  rotation->ComputeRotation(rawAcc);
70  rotation->ComputeRotation(rawGyr);
71  rotation->ComputeRotation(rawMag);
72  imuData->SetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
[3]73}
74
[15]75GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
[3]76
[15]77Layout *Imu::GetLayout(void) const { return sensorTab; }
[3]78
79void Imu::LockUserInterface(void) const {
[15]80  if (sensorTab == NULL) {
81    Err("not applicable for simulation part.\n");
82    return;
83  }
84  sensorTab->setEnabled(false);
[3]85}
86
87void Imu::UnlockUserInterface(void) const {
[15]88  if (sensorTab == NULL) {
89    Err("not applicable for simulation part.\n");
90    return;
91  }
92  sensorTab->setEnabled(true);
[3]93}
94
95void Imu::UseDefaultPlot(void) {
[15]96  if (tab == NULL) {
97    Err("not applicable for simulation part.\n");
98    return;
99  }
[3]100
[15]101  plotTab = new Tab(tab, "IMU");
102  axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
103  axPlot->AddCurve(imuData->Element(ImuData::RawAx));
104  ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
105  ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
106  azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
107  azPlot->AddCurve(imuData->Element(ImuData::RawAz));
[3]108
[15]109  if (plotTab == NULL)
110    plotTab = new Tab(tab, "IMU");
111  gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
112  gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
113  gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
114  gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
115  gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
116  gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
[3]117
[15]118  if (plotTab == NULL)
119    plotTab = new Tab(tab, "IMU");
120  mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
121  mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
122  myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
123  myPlot->AddCurve(imuData->Element(ImuData::RawMy));
124  mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
125  mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
[3]126}
127
[15]128Tab *Imu::GetPlotTab(void) const { return plotTab; }
[3]129
130} // end namespace sensor
131} // end namespace flair
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