Changeset 15 in flair-src for trunk/lib/FlairFilter/src/Ahrs_impl.cpp


Ignore:
Timestamp:
04/08/16 15:40:57 (8 years ago)
Author:
Bayard Gildas
Message:

sources reformatted with flair-format-dir script

File:
1 edited

Legend:

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Removed

  • trunk/lib/FlairFilter/src/Ahrs_impl.cpp

    r10 r15  
    3030using namespace flair::sensor;
    3131
    32 Ahrs_impl::Ahrs_impl(Ahrs* inSelf): self(inSelf) {
    33     rollPlot=NULL;
    34     pitchPlot=NULL;
    35     yawPlot=NULL;
    36     wXPlot=NULL;
    37     wYPlot=NULL;
    38     wZPlot=NULL;
    39     q0Plot=NULL;
    40     q1Plot=NULL;
    41     q2Plot=NULL;
    42     q3Plot=NULL;
     32Ahrs_impl::Ahrs_impl(Ahrs *inSelf) : self(inSelf) {
     33  rollPlot = NULL;
     34  pitchPlot = NULL;
     35  yawPlot = NULL;
     36  wXPlot = NULL;
     37  wYPlot = NULL;
     38  wZPlot = NULL;
     39  q0Plot = NULL;
     40  q1Plot = NULL;
     41  q2Plot = NULL;
     42  q3Plot = NULL;
    4343
    44     eulerTab=NULL;
    45     quaternionTab=NULL;
     44  eulerTab = NULL;
     45  quaternionTab = NULL;
    4646
    47     ahrsData=new AhrsData(self);
     47  ahrsData = new AhrsData(self);
    4848}
    4949
    50 Ahrs_impl::~Ahrs_impl() {
    51 }
     50Ahrs_impl::~Ahrs_impl() {}
    5251
    5352void Ahrs_impl::UseDefaultPlot(void) {
    5453
    55     eulerTab=new Tab(((Imu*)(self->Parent()))->tab,"AHRS");
    56     rollPlot=new DataPlot1D(eulerTab->NewRow(),"roll",-30,30);
    57     rollPlot->AddCurve(ahrsData->Element(AhrsData::RollDeg));
    58     pitchPlot=new DataPlot1D(eulerTab->LastRowLastCol(),"pitch",-30,30);
    59     pitchPlot->AddCurve(ahrsData->Element(AhrsData::PitchDeg));
    60     yawPlot=new DataPlot1D(eulerTab->LastRowLastCol(),"yaw",-180,180);
    61     yawPlot->AddCurve(ahrsData->Element(AhrsData::YawDeg));
     54  eulerTab = new Tab(((Imu *)(self->Parent()))->tab, "AHRS");
     55  rollPlot = new DataPlot1D(eulerTab->NewRow(), "roll", -30, 30);
     56  rollPlot->AddCurve(ahrsData->Element(AhrsData::RollDeg));
     57  pitchPlot = new DataPlot1D(eulerTab->LastRowLastCol(), "pitch", -30, 30);
     58  pitchPlot->AddCurve(ahrsData->Element(AhrsData::PitchDeg));
     59  yawPlot = new DataPlot1D(eulerTab->LastRowLastCol(), "yaw", -180, 180);
     60  yawPlot->AddCurve(ahrsData->Element(AhrsData::YawDeg));
    6261
    63     wXPlot=new DataPlot1D(eulerTab->NewRow(),"w_x",-200,200);
    64     wXPlot->AddCurve(ahrsData->Element(AhrsData::WxDeg));
    65     wYPlot=new DataPlot1D(eulerTab->LastRowLastCol(),"w_y",-200,200);
    66     wYPlot->AddCurve(ahrsData->Element(AhrsData::WyDeg));
    67     wZPlot=new DataPlot1D(eulerTab->LastRowLastCol(),"w_z",-200,200);
    68     wZPlot->AddCurve(ahrsData->Element(AhrsData::WzDeg));
     62  wXPlot = new DataPlot1D(eulerTab->NewRow(), "w_x", -200, 200);
     63  wXPlot->AddCurve(ahrsData->Element(AhrsData::WxDeg));
     64  wYPlot = new DataPlot1D(eulerTab->LastRowLastCol(), "w_y", -200, 200);
     65  wYPlot->AddCurve(ahrsData->Element(AhrsData::WyDeg));
     66  wZPlot = new DataPlot1D(eulerTab->LastRowLastCol(), "w_z", -200, 200);
     67  wZPlot->AddCurve(ahrsData->Element(AhrsData::WzDeg));
    6968
    70     quaternionTab=new Tab(((Imu*)(self->Parent()))->tab,"Quaternion");
    71     q0Plot=new DataPlot1D(quaternionTab->NewRow(),"q0",-1,1);
    72     q0Plot->AddCurve(ahrsData->Element(AhrsData::Q0));
    73     q1Plot=new DataPlot1D(quaternionTab->NewRow(),"q1",-1,1);
    74     q1Plot->AddCurve(ahrsData->Element(AhrsData::Q1));
    75     q2Plot=new DataPlot1D(quaternionTab->LastRowLastCol(),"q2",-1,1);
    76     q2Plot->AddCurve(ahrsData->Element(AhrsData::Q2));
    77     q3Plot=new DataPlot1D(quaternionTab->LastRowLastCol(),"q3",-1,1);
    78     q3Plot->AddCurve(ahrsData->Element(AhrsData::Q3));
    79 
     69  quaternionTab = new Tab(((Imu *)(self->Parent()))->tab, "Quaternion");
     70  q0Plot = new DataPlot1D(quaternionTab->NewRow(), "q0", -1, 1);
     71  q0Plot->AddCurve(ahrsData->Element(AhrsData::Q0));
     72  q1Plot = new DataPlot1D(quaternionTab->NewRow(), "q1", -1, 1);
     73  q1Plot->AddCurve(ahrsData->Element(AhrsData::Q1));
     74  q2Plot = new DataPlot1D(quaternionTab->LastRowLastCol(), "q2", -1, 1);
     75  q2Plot->AddCurve(ahrsData->Element(AhrsData::Q2));
     76  q3Plot = new DataPlot1D(quaternionTab->LastRowLastCol(), "q3", -1, 1);
     77  q3Plot->AddCurve(ahrsData->Element(AhrsData::Q3));
    8078}
    8179
    82 void Ahrs_impl::AddPlot(const AhrsData *ahrsData,DataPlot::Color_t color) {
    83     if(rollPlot!=NULL) {
    84         rollPlot->AddCurve(ahrsData->Element(AhrsData::RollDeg),color);
    85         pitchPlot->AddCurve(ahrsData->Element(AhrsData::PitchDeg),color);
    86         yawPlot->AddCurve(ahrsData->Element(AhrsData::YawDeg),color);
    87     }
    88     if(wXPlot!=NULL) {
    89         wXPlot->AddCurve(ahrsData->Element(AhrsData::WxDeg),color);
    90         wYPlot->AddCurve(ahrsData->Element(AhrsData::WyDeg),color);
    91         wZPlot->AddCurve(ahrsData->Element(AhrsData::WzDeg),color);
    92     }
    93     if(quaternionTab!=NULL) {
    94         q0Plot->AddCurve(ahrsData->Element(AhrsData::Q0),color);
    95         q1Plot->AddCurve(ahrsData->Element(AhrsData::Q1),color);
    96         q2Plot->AddCurve(ahrsData->Element(AhrsData::Q2),color);
    97         q3Plot->AddCurve(ahrsData->Element(AhrsData::Q3),color);
    98     }
     80void Ahrs_impl::AddPlot(const AhrsData *ahrsData, DataPlot::Color_t color) {
     81  if (rollPlot != NULL) {
     82    rollPlot->AddCurve(ahrsData->Element(AhrsData::RollDeg), color);
     83    pitchPlot->AddCurve(ahrsData->Element(AhrsData::PitchDeg), color);
     84    yawPlot->AddCurve(ahrsData->Element(AhrsData::YawDeg), color);
     85  }
     86  if (wXPlot != NULL) {
     87    wXPlot->AddCurve(ahrsData->Element(AhrsData::WxDeg), color);
     88    wYPlot->AddCurve(ahrsData->Element(AhrsData::WyDeg), color);
     89    wZPlot->AddCurve(ahrsData->Element(AhrsData::WzDeg), color);
     90  }
     91  if (quaternionTab != NULL) {
     92    q0Plot->AddCurve(ahrsData->Element(AhrsData::Q0), color);
     93    q1Plot->AddCurve(ahrsData->Element(AhrsData::Q1), color);
     94    q2Plot->AddCurve(ahrsData->Element(AhrsData::Q2), color);
     95    q3Plot->AddCurve(ahrsData->Element(AhrsData::Q3), color);
     96  }
    9997}
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