Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/Gx3_25_imu.cpp
- Timestamp:
- Apr 8, 2016, 3:40:57 PM (9 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairSensorActuator/src/Gx3_25_imu.cpp
r3 r15 25 25 using namespace flair::core; 26 26 27 namespace flair { namespace sensor { 27 namespace flair { 28 namespace sensor { 28 29 29 Gx3_25_imu::Gx3_25_imu(const FrameworkManager* parent,string name,SerialPort* serialport,Command_t command,uint8_t priority) : Imu(parent,name),Thread(parent,name,priority) { 30 pimpl_=new Gx3_25_imu_impl(this,name,serialport,command,GetGroupBox()); 30 Gx3_25_imu::Gx3_25_imu(const FrameworkManager *parent, string name, 31 SerialPort *serialport, Command_t command, 32 uint8_t priority) 33 : Imu(parent, name), Thread(parent, name, priority) { 34 pimpl_ = new Gx3_25_imu_impl(this, name, serialport, command, GetGroupBox()); 31 35 32 if(command==EulerAnglesAndAngularRates) {36 if (command == EulerAnglesAndAngularRates) { 33 37 34 } else if(command==AccelerationAngularRateAndOrientationMatrix) {35 36 37 Thread::Err("command not supported (%i)\n",command);38 39 //AddDataToLog(imudata);38 } else if (command == AccelerationAngularRateAndOrientationMatrix) { 39 Thread::Err("oneaxis rotation of rotation matrix is not yet implemented\n"); 40 } else { 41 Thread::Err("command not supported (%i)\n", command); 42 } 43 // AddDataToLog(imudata); 40 44 } 41 45 42 46 Gx3_25_imu::~Gx3_25_imu() { 43 44 45 47 SafeStop(); 48 Join(); 49 delete pimpl_; 46 50 } 47 51 48 void Gx3_25_imu::Run(void) { 49 pimpl_->Run(); 50 } 52 void Gx3_25_imu::Run(void) { pimpl_->Run(); } 51 53 52 54 } // end namespace sensor
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