source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.h @ 136

Last change on this file since 136 was 99, checked in by Sanahuja Guillaume, 5 years ago

rotation pour 3dmgx3

File size: 2.6 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
18namespace flair {
19  namespace core {
20    class ImuData;
21    class OneAxisRotation;
22  }
23  namespace gui {
24    class Tab;
25    class TabWidget;
26    class GroupBox;
27    class Layout;
28    class DataPlot1D;
29  }
30}
31
32class Ahrs_impl;
33
34namespace flair {
35namespace sensor {
36/*! \class Imu
37*
38* \brief Base class for Imu
39*
40* Use this class to define a custom Imu.
41*
42*/
43class Imu : public core::IODevice {
44  friend class ::Ahrs_impl;
45
46public:
47  /*!
48  * \brief Constructor
49  *
50  * Construct an Imu.
51  *
52  * \param parent parent
53  * \param name name
54  */
55  Imu(const core::FrameworkManager *parent, std::string name);
56
57  /*!
58  * \brief Constructor
59  *
60  * Construct an Imu. \n
61  * This contructor must only be called for a simulated device.
62  *
63  * \param parent parent
64  * \param name name
65  */
66  Imu(const core::IODevice *parent, std::string name);
67
68  /*!
69  * \brief Destructor
70  *
71  */
72  ~Imu();
73
74  /*!
75  * \brief Setup Layout
76  *
77  * \return setup Layout
78  */
79  gui::Layout *GetLayout(void) const;
80
81  /*!
82  * \brief Lock user interface
83  *
84  */
85  void LockUserInterface(void) const;
86
87  /*!
88  * \brief Unlock user interface
89  *
90  */
91  void UnlockUserInterface(void) const;
92
93  /*!
94  * \brief Use default plot
95  *
96  */
97  void UseDefaultPlot(void);
98
99  /*!
100  * \brief Plot tab
101  *
102  * \return plot Tab
103  */
104  gui::Tab *GetPlotTab(void) const;
105
106  /*!
107  * \brief Get OneAxisRotation
108  *
109  * \return fixed rotation of the imu
110  */
111  core::OneAxisRotation *GetOneAxisRotation(void) const;
112
113
114protected:
115  /*!
116  * \brief Setup GroupBox
117  *
118  * \return setup GroupBox
119  */
120  gui::GroupBox *GetGroupBox(void) const;
121
122  /*!
123  * \brief UpdateImu
124  *
125  * The reimplemented class must call this function as soon as IMU datas are
126  *available. \n
127  * It handles the data rotation if it was defined.
128  *
129  */
130  void UpdateImu();
131
132  /*!
133  * \brief Get imu datas
134  *
135  * \param imuData imu datas
136  */
137  void GetDatas(core::ImuData **imuData) const;
138
139private:
140  gui::Tab *mainTab, *sensorTab, *plotTab;
141  gui::TabWidget *tab;
142  gui::GroupBox *setupGroupbox;
143  core::OneAxisRotation *rotation;
144  core::ImuData *imuData;
145
146  gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
147  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
148  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
149};
150} // end namespace sensor
151} // end namespace flair
152
153#endif // IMU_H
Note: See TracBrowser for help on using the repository browser.