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


Ignore:
Timestamp:
04/08/16 15:40:57 (6 years ago)
Author:
Bayard Gildas
Message:

sources reformatted with flair-format-dir script

File:
1 edited

Legend:

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Added
Removed
  • trunk/lib/FlairFilter/src/SimuAhrs.cpp

    r10 r15  
    2525using namespace flair::sensor;
    2626
    27 namespace flair { namespace filter {
     27namespace flair {
     28namespace filter {
    2829
    29 SimuAhrs::SimuAhrs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Ahrs(new SimuImu(parent,name,dev_id,priority),name) {
    30 }
     30SimuAhrs::SimuAhrs(const FrameworkManager *parent, string name, uint32_t dev_id,
     31                   uint8_t priority)
     32    : Ahrs(new SimuImu(parent, name, dev_id, priority), name) {}
    3133
    3234SimuAhrs::~SimuAhrs() {}
    3335
    34 void SimuAhrs::Start(void) {
    35     ((SimuImu*)GetImu())->Start();
    36 }
     36void SimuAhrs::Start(void) { ((SimuImu *)GetImu())->Start(); }
    3737
    38 //datas from SimuImu are AhrsData!
     38// datas from SimuImu are AhrsData!
    3939void SimuAhrs::UpdateFrom(const io_data *data) {
    40     AhrsData *input=(AhrsData*)data;
    41     AhrsData *output;
    42     GetDatas(&output);
     40  AhrsData *input = (AhrsData *)data;
     41  AhrsData *output;
     42  GetDatas(&output);
    4343
    44     Quaternion quaternion;
    45     Vector3D filteredAngRates;
    46     input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
    47     output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
    48     output->SetDataTime(input->DataTime());
     44  Quaternion quaternion;
     45  Vector3D filteredAngRates;
     46  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
     47  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
     48  output->SetDataTime(input->DataTime());
    4949
    50     ProcessUpdate(output);
     50  ProcessUpdate(output);
    5151}
    5252
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