Changeset 202 in flair-src for trunk/lib/FlairSensorActuator/src/SimuImu.cpp

Timestamp:

11/02/17 15:04:47 (6 years ago)

Author:

Sanahuja Guillaume

Message:

modifs usleep

File:

• trunk/lib/FlairSensorActuator/src/SimuImu.cpp (modified) (4 diffs)

trunk/lib/FlairSensorActuator/src/SimuImu.cpp

@@ -34 +34 @@
 namespace sensor {
 
+//Construct a SimuImu. Control part.
 SimuImu::SimuImu(string name, uint32_t modelId,uint32_t deviceId,
                  uint8_t priority)
@@ -46 +47 @@
 }
 
+//Construct a SimuImu. Simulation part.
 SimuImu::SimuImu(const IODevice *parent, string name, uint32_t modelId,uint32_t deviceId)
     : Imu(parent,name), Thread(parent, name, 0) {
@@ -109 +111 @@
       SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
     }
-
     shmem->Read((char *)&state, sizeof(imu_states_t));
-    
-    Quaternion  quaternion(state.q0, state.q1, state.q2, state.q3);
+    Quaternion quaternion(state.q0, state.q1, state.q2, state.q3);
     Vector3Df angRate(state.wx, state.wy, state.wz);
     Vector3Df rawAcc(state.ax, state.ay, state.az);
@@ -128 +128 @@
     imuData->SetDataTime(GetTime());
     ahrsData->SetDataTime(GetTime());
-
     ProcessUpdate(ahrsData);
   }