source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.cpp @ 330

Last change on this file since 330 was 198, checked in by Sanahuja Guillaume, 4 years ago

modifs imu

File size: 4.0 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//  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
32namespace flair {
33namespace sensor {
34
35Imu::Imu(string name,bool needRotation) : IODevice(getFrameworkManager(), name) {
36  imuData = new ImuData(this);
37
38  // station sol
39  mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
40  tab = new TabWidget(mainTab->NewRow(), name);
41  sensorTab = new Tab(tab, "Reglages");
42  setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
43  if(needRotation) {
44    rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
45  } else {
46    rotation=NULL;
47  }
48  AddDataToLog(imuData);
49}
50
51Imu::Imu(const IODevice *parent,std::string name) : IODevice(parent, name) {
52  imuData = new ImuData(this);
53  mainTab = NULL;
54  tab = NULL;
55  sensorTab = NULL;
56  setupGroupbox = NULL;
57  rotation = NULL;
58}
59
60Imu::~Imu() {
61  if (mainTab != NULL)
62    delete mainTab;
63}
64
65const ImuData *Imu::GetDatas(void) const {
66  return imuData;
67}
68
69void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
70
71OneAxisRotation *Imu::GetOneAxisRotation(void) const {
72  if (rotation == NULL) {
73    Err("not applicable\n");
74  }
75  return rotation;
76}
77
78void Imu::ApplyRotation(Vector3Df& vector) {
79  if (rotation == NULL) {
80    Err("not applicable\n");
81    return;
82  }
83  rotation->ComputeRotation(vector);
84}
85
86void Imu::ApplyRotation(Quaternion& quaternion) {
87  if (rotation == NULL) {
88    Err("not applicable\n");
89    return;
90  }
91  rotation->ComputeRotation(quaternion);
92}
93
94GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
95
96Layout *Imu::GetLayout(void) const { return sensorTab; }
97
98void Imu::LockUserInterface(void) const {
99  if (sensorTab == NULL) {
100    Err("not applicable for simulation part.\n");
101    return;
102  }
103  sensorTab->setEnabled(false);
104}
105
106void Imu::UnlockUserInterface(void) const {
107  if (sensorTab == NULL) {
108    Err("not applicable for simulation part.\n");
109    return;
110  }
111  sensorTab->setEnabled(true);
112}
113
114void Imu::UseDefaultPlot(void) {
115  if (tab == NULL) {
116    Err("not applicable for simulation part.\n");
117    return;
118  }
119
120  plotTab = new Tab(tab, "IMU");
121  axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
122  axPlot->AddCurve(imuData->Element(ImuData::RawAx));
123  ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
124  ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
125  azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
126  azPlot->AddCurve(imuData->Element(ImuData::RawAz));
127
128  if (plotTab == NULL)
129    plotTab = new Tab(tab, "IMU");
130  gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
131  gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
132  gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
133  gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
134  gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
135  gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
136
137  if (plotTab == NULL)
138    plotTab = new Tab(tab, "IMU");
139  mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
140  mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
141  myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
142  myPlot->AddCurve(imuData->Element(ImuData::RawMy));
143  mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
144  mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
145}
146
147Tab *Imu::GetPlotTab(void) const { return plotTab; }
148
149} // end namespace sensor
150} // end namespace flair
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