Changeset 13 in flair-dev for trunk/include/FlairFilter/Ahrs.h
- Timestamp:
- 04/08/16 15:39:24 (8 years ago)
- File:
-
- 1 edited
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trunk/include/FlairFilter/Ahrs.h
r9 r13 18 18 19 19 namespace flair { 20 21 22 23 24 25 26 27 28 29 30 31 32 33 20 namespace core { 21 class Euler; 22 class Vector3D; 23 class ImuData; 24 class Quaternion; 25 class AhrsData; 26 } 27 namespace gui { 28 class Tab; 29 class DataPlot1D; 30 } 31 namespace sensor { 32 class Imu; 33 } 34 34 } 35 35 36 36 class Ahrs_impl; 37 37 38 namespace flair { namespace filter { 39 /*! \class Ahrs 40 * 41 * \brief Abstract class for AHRS 42 * 43 * Use this class to define a custom AHRS. This class is child 44 * of an Imu class, which will provide measurements. \n 45 * 46 */ 47 class Ahrs : public core::IODevice { 48 public: 49 /*! 50 * \brief Constructor 51 * 52 * Construct an Ahrs. 53 * 54 * \param parent parent 55 * \param name name 56 */ 57 Ahrs(const sensor::Imu* parent,std::string name); 38 namespace flair { 39 namespace filter { 40 /*! \class Ahrs 41 * 42 * \brief Abstract class for AHRS 43 * 44 * Use this class to define a custom AHRS. This class is child 45 * of an Imu class, which will provide measurements. \n 46 * 47 */ 48 class Ahrs : public core::IODevice { 49 public: 50 /*! 51 * \brief Constructor 52 * 53 * Construct an Ahrs. 54 * 55 * \param parent parent 56 * \param name name 57 */ 58 Ahrs(const sensor::Imu *parent, std::string name); 58 59 59 60 61 62 63 60 /*! 61 * \brief Destructor 62 * 63 */ 64 ~Ahrs(); 64 65 65 66 67 68 69 70 66 /*! 67 * \brief Get parent Imu 68 * 69 * This function is identical to (Imu*)Parent() 70 */ 71 const sensor::Imu *GetImu(void) const; 71 72 72 73 74 75 76 77 73 /*! 74 * \brief Get ahrs datas 75 * 76 * \return AhrsData 77 */ 78 const core::AhrsData *GetDatas(void) const; 78 79 79 80 81 82 83 84 85 80 /*! 81 * \brief Lock the graphical user interface 82 * 83 * When locked, parameters cannot be modified. 84 * 85 */ 86 void LockUserInterface(void) const; 86 87 87 88 89 90 91 88 /*! 89 * \brief Unlock the graphical user interface 90 * 91 */ 92 void UnlockUserInterface(void) const; 92 93 93 94 95 96 97 98 99 100 94 /*! 95 * \brief Use default plot 96 * 97 * Plot the datas defined in imudata, 98 * and datas defined in Imu::imudata. 99 * 100 */ 101 void UseDefaultPlot(void); 101 102 102 103 104 105 106 107 108 109 110 void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);103 /*! 104 * \brief Add plot 105 * 106 * Add plot of an AhrsData to the default plot 107 * 108 * \param ahrsData ahrs datas to plot 109 * \param color color to use 110 */ 111 void AddPlot(const core::AhrsData *ahrsData, gui::DataPlot::Color_t color); 111 112 112 113 114 115 116 117 118 119 120 gui::DataPlot1D *RollPlot(void)const;113 /*! 114 * \brief Roll plot 115 * 116 * Use this plot to add own curves. 117 * 118 * \return plot 119 * 120 */ 121 gui::DataPlot1D *RollPlot(void) const; 121 122 122 123 124 125 126 127 128 129 130 123 /*! 124 * \brief Pitch plot 125 * 126 * Use this plot to add own curves. 127 * 128 * \return plot 129 * 130 */ 131 gui::DataPlot1D *PitchPlot(void) const; 131 132 132 133 134 135 136 137 138 139 140 133 /*! 134 * \brief Yaw plot 135 * 136 * Use this plot to add own curves. 137 * 138 * \return plot 139 * 140 */ 141 gui::DataPlot1D *YawPlot(void) const; 141 142 142 143 144 145 146 147 148 149 150 143 /*! 144 * \brief Rotation speed around x axis plot 145 * 146 * Use this plot to add own curves. 147 * 148 * \return plot 149 * 150 */ 151 gui::DataPlot1D *WXPlot(void) const; 151 152 152 153 154 155 156 157 158 159 160 153 /*! 154 * \brief Rotation speed around y axis plot 155 * 156 * Use this plot to add own curves. 157 * 158 * \return plot 159 * 160 */ 161 gui::DataPlot1D *WYPlot(void) const; 161 162 162 163 164 165 166 167 168 169 170 163 /*! 164 * \brief Rotation speed around z axis plot 165 * 166 * Use this plot to add own curves. 167 * 168 * \return plot 169 * 170 */ 171 gui::DataPlot1D *WZPlot(void) const; 171 172 172 173 174 175 176 177 178 173 protected: 174 /*! 175 * \brief Get ahrs datas 176 * 177 * \param ahrsData ahrs datas 178 */ 179 void GetDatas(core::AhrsData **ahrsData) const; 179 180 180 181 182 181 private: 182 class Ahrs_impl *pimpl_; 183 }; 183 184 } // end namespace filter 184 185 } // end namespace flair
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