source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.h@ 340

Last change on this file since 340 was 340, checked in by Sanahuja Guillaume, 2 years ago

add servos

File size: 3.0 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/*!
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
150private:
151 gui::Tab *mainTab, *sensorTab, *plotTab;
152 gui::TabWidget *tab;
153 gui::GroupBox *setupGroupbox;
154 core::OneAxisRotation *rotation;
155 core::ImuData *imuData;
156
157 gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
158 gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
159 gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
160};
161} // end namespace sensor
162} // end namespace flair
163
164#endif // IMU_H
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