1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file SimuImu.h
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7 | * \brief Class for a simulation Imu
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2014/02/07
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef SIMUIMU_H
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14 | #define SIMUIMU_H
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15 |
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16 | #include <Imu.h>
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17 | #include <Thread.h>
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18 |
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19 | namespace flair {
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20 | namespace core {
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21 | class SharedMem;
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22 | class AhrsData;
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23 | }
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24 | namespace gui {
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25 | class SpinBox;
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26 | }
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27 | }
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28 |
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29 | namespace flair { namespace sensor {
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30 | /*! \class SimuImu
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31 | *
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32 | * \brief Class for a simulation Imu
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33 | */
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34 | class SimuImu : public Imu, public core::Thread {
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35 | public:
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36 | /*!
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37 | * \brief Constructor
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38 | *
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39 | * Construct a SimuImu. Control part.
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40 | *
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41 | * \param parent parent
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42 | * \param name name
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43 | * \param dev_id device id
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44 | * \param priority priority of the Thread
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45 | */
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46 | SimuImu(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
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47 |
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48 | /*!
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49 | * \brief Constructor
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50 | *
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51 | * Construct a SimuImu. Simulation part.\n
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52 | * The Thread of this class should not be run.
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53 | *
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54 | * \param parent parent
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55 | * \param name name
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56 | * \param dev_id device id
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57 | */
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58 | SimuImu(const core::IODevice* parent,std::string name,uint32_t dev_id);
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59 |
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60 | /*!
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61 | * \brief Destructor
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62 | *
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63 | */
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64 | ~SimuImu();
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65 |
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66 | private:
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67 | /*!
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68 | * \brief Run function
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69 | *
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70 | * Reimplemented from Thread.
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71 | *
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72 | */
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73 | void Run(void);
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74 |
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75 | /*!
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76 | * \brief Update using provided datas
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77 | *
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78 | * Reimplemented from IODevice.
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79 | *
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80 | * \param data data from the parent to process
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81 | */
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82 | void UpdateFrom(const core::io_data *data);
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83 |
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84 | typedef struct {
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85 | float q0;
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86 | float q1;
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87 | float q2;
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88 | float q3;
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89 | float wx;
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90 | float wy;
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91 | float wz;
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92 | } imu_states_t;
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93 | gui::SpinBox *data_rate;
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94 | core::SharedMem *shmem;
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95 | core::AhrsData *ahrsData;
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96 | };
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97 | } // end namespace sensor
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98 | } // end namespace flair
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99 | #endif // SIMUIMU_H
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