Changeset 173 in flair-src for trunk/lib/FlairSensorActuator/src/Imu.h

Timestamp:

04/26/17 11:12:59 (6 years ago)

Author:

Sanahuja Guillaume

Message:

modif imu

File:

• trunk/lib/FlairSensorActuator/src/Imu.h (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/Imu.h

@@ -15 +15 @@
 
 #include <IODevice.h>
+#include <Vector3D.h>
 
 namespace flair {
@@ -121 +122 @@
 
   /*!
-  * \brief UpdateImu
+  * \brief ApplyRotation
   *
-  * The reimplemented class must call this function as soon as IMU datas are
-  *available. \n
+  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
   * It handles the data rotation if it was defined.
   *
+  * \param vector vector to apply rotation to
   */
-  void UpdateImu();
+  void ApplyRotation(core::Vector3Df& vector);
+  
+  /*!
+  * \brief ApplyRotation
+  *
+  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
+  * It handles the data rotation if it was defined.
+  *
+  * \param quaternion quaternion to apply rotation to
+  */
+  void ApplyRotation(core::Quaternion& quaternion);
 
   /*!