source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.h

Last change on this file was 344, checked in by Sanahuja Guillaume, 2 years ago

improve imu calibration by detecting a movement

File size: 3.6 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 Imu.h
7 * \brief Base class for Imu
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/16
10 * \version 4.0
11 */
12
13#ifndef IMU_H
14#define IMU_H
15
16#include <IODevice.h>
17#include <Vector3D.h>
18
19namespace flair {
20  namespace core {
21    class ImuData;
22    class OneAxisRotation;
23  }
24  namespace gui {
25    class Tab;
26    class TabWidget;
27    class GroupBox;
28    class Layout;
29    class DataPlot1D;
30  }
31}
32
33class Ahrs_impl;
34
35namespace flair {
36namespace sensor {
37/*! \class Imu
38*
39* \brief Base class for Imu
40*
41* Use this class to define a custom Imu.
42*
43*/
44class Imu : public core::IODevice {
45  friend class ::Ahrs_impl;
46
47public:
48  /*!
49  * \brief Constructor
50  *
51  * Construct an Imu.
52        * It will be child of the FrameworkManager.
53  *
54  * \param name name
55  * \param needRotation true will enable post rotation in GCS. Post rotation must be applied manually in reimplemented code
56  */
57  Imu(std::string name,bool needRotation=true);
58
59  /*!
60  * \brief Destructor
61  *
62  */
63  ~Imu();
64 
65  /*!
66  * \brief Get IMU datas
67  *
68  * \return ImuData
69  */
70  const core::ImuData *GetDatas(void) const;
71
72
73  /*!
74  * \brief Setup Layout
75  *
76  * \return setup Layout
77  */
78  gui::Layout *GetLayout(void) const;
79
80  /*!
81  * \brief Lock user interface
82  *
83  */
84  void LockUserInterface(void) const;
85
86  /*!
87  * \brief Unlock user interface
88  *
89  */
90  void UnlockUserInterface(void) const;
91
92  /*!
93  * \brief Use default plot
94  *
95  */
96  void UseDefaultPlot(void);
97
98  /*!
99  * \brief Plot tab
100  *
101  * \return plot Tab
102  */
103  gui::Tab *GetPlotTab(void) const;
104
105  /*!
106  * \brief Get OneAxisRotation
107  *
108  * \return fixed rotation of the imu
109  */
110  core::OneAxisRotation *GetOneAxisRotation(void) const;
111
112
113protected:
114  /*!
115  * \brief Setup GroupBox
116  *
117  * \return setup GroupBox
118  */
119  gui::GroupBox *GetGroupBox(void) const;
120
121  /*!
122  * \brief ApplyRotation
123  *
124  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
125  * It handles the data rotation if it was defined.
126  *
127  * \param vector vector to apply rotation to
128  */
129  void ApplyRotation(core::Vector3Df& vector);
130 
131  /*!
132  * \brief ApplyRotation
133  *
134  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
135  * It handles the data rotation if it was defined.
136  *
137  * \param quaternion quaternion to apply rotation to
138  */
139  void ApplyRotation(core::Quaternion& quaternion);
140
141  /*!
142  * \brief Get imu datas
143  *
144  * Can be used by dervied class to fill core::ImuData
145  *
146  * \param imuData imu datas
147  */
148  void GetDatas(core::ImuData **imuData) const;
149 
150  /*!
151  * \brief Remove Offsets
152  *
153  * Remove the accelerometers and gyrometers offsets. During first 10s, returns 0 (gathering data to get offset)
154  * Then, returns the vectors without offset
155  *
156  * \param acc accelerometer vector to remove offset
157  * \param gyr gyrometer vector to remove offset
158  */
159  void RemoveOffsets(core::Vector3Df& acc,core::Vector3Df& gyr);
160
161private:
162  gui::Tab *mainTab, *sensorTab, *plotTab;
163  gui::TabWidget *tab;
164  gui::GroupBox *setupGroupbox;
165  core::OneAxisRotation *rotation;
166  core::ImuData *imuData;
167
168  gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
169  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
170  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
171 
172  //for calibration:
173  core::Time startCalcOffset;
174  bool calibrationDone;
175  core::Vector3Df accOffset,gyrOffset,accMax,accMin;
176  uint16_t cptOffset;
177 
178};
179} // end namespace sensor
180} // end namespace flair
181
182#endif // IMU_H
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