Index: trunk/doc/Flair/classflair_1_1filter_1_1_simu_ahrs.html
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--- trunk/doc/Flair/classflair_1_1filter_1_1_simu_ahrs.html	(revision 47)
+++ trunk/doc/Flair/classflair_1_1filter_1_1_simu_ahrs.html	(revision 50)
@@ -136,13 +136,10 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
 Public Member Functions</h2></td></tr>
-<tr class="memitem:a95df052b37b684b2a1f753163d6baaeb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_simu_ahrs.html#a95df052b37b684b2a1f753163d6baaeb">SimuAhrs</a> (const <a class="el" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a> *parent, std::string name, uint32_t dev_id, uint8_t priority)</td></tr>
-<tr class="memdesc:a95df052b37b684b2a1f753163d6baaeb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a95df052b37b684b2a1f753163d6baaeb">More...</a><br /></td></tr>
-<tr class="separator:a95df052b37b684b2a1f753163d6baaeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6d464ee0bdb6dee924b536532e6cd53"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_simu_ahrs.html#ae6d464ee0bdb6dee924b536532e6cd53">SimuAhrs</a> (std::string name, uint32_t modelId, uint32_t deviceId, uint8_t priority)</td></tr>
+<tr class="memdesc:ae6d464ee0bdb6dee924b536532e6cd53"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#ae6d464ee0bdb6dee924b536532e6cd53">More...</a><br /></td></tr>
+<tr class="separator:ae6d464ee0bdb6dee924b536532e6cd53"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:abc6e5fb30794862c01828b73166a405d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_simu_ahrs.html#abc6e5fb30794862c01828b73166a405d">~SimuAhrs</a> ()</td></tr>
 <tr class="memdesc:abc6e5fb30794862c01828b73166a405d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#abc6e5fb30794862c01828b73166a405d">More...</a><br /></td></tr>
 <tr class="separator:abc6e5fb30794862c01828b73166a405d"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a62d4c34069a45aa85acb5d16c0ecccc2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_simu_ahrs.html#a62d4c34069a45aa85acb5d16c0ecccc2">Start</a> (void)</td></tr>
-<tr class="memdesc:a62d4c34069a45aa85acb5d16c0ecccc2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start SimuImu Thread.  <a href="#a62d4c34069a45aa85acb5d16c0ecccc2">More...</a><br /></td></tr>
-<tr class="separator:a62d4c34069a45aa85acb5d16c0ecccc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="inherit_header pub_methods_classflair_1_1filter_1_1_ahrs"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classflair_1_1filter_1_1_ahrs')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classflair_1_1filter_1_1_ahrs.html">flair::filter::Ahrs</a></td></tr>
 <tr class="memitem:a36d3fc4bb2644faae4b3a297b484fad7 inherit pub_methods_classflair_1_1filter_1_1_ahrs"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_ahrs.html#a36d3fc4bb2644faae4b3a297b484fad7">Ahrs</a> (const <a class="el" href="classflair_1_1sensor_1_1_imu.html">sensor::Imu</a> *parent, std::string name)</td></tr>
@@ -204,4 +201,7 @@
 <tr class="memdesc:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send the output to a shared memory.  <a href="#a12d811c6926fb86da6b47f889109da66">More...</a><br /></td></tr>
 <tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#aee7828ae2eece2bace8e476dacc2bc12">IsReady</a> (void) const </td></tr>
+<tr class="memdesc:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">is device ready  <a href="#aee7828ae2eece2bace8e476dacc2bc12">More...</a><br /></td></tr>
+<tr class="separator:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75e82ca2ae2fb7c39d973dd3d16bc698"></a>
 virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetInputDataType</b> () const </td></tr>
@@ -262,4 +262,7 @@
 <tr class="memdesc:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the childs of type <a class="el" href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. ">IODevice</a>, and log if needed.  <a href="#a3df9057ae23eb34f1b1dae8e7a4a9efc">More...</a><br /></td></tr>
 <tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a120fdcc3d50f6f076084cb6943fdf412">SetIsReady</a> (bool status)</td></tr>
+<tr class="memdesc:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">set is ready  <a href="#a120fdcc3d50f6f076084cb6943fdf412">More...</a><br /></td></tr>
+<tr class="separator:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
@@ -267,5 +270,5 @@
 <p>This class constructs a SimuImu as Imu of this <a class="el" href="classflair_1_1filter_1_1_ahrs.html" title="Abstract class for AHRS. ">Ahrs</a>. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a class="anchor" id="a95df052b37b684b2a1f753163d6baaeb"></a>
+<a class="anchor" id="ae6d464ee0bdb6dee924b536532e6cd53"></a>
 <div class="memitem">
 <div class="memproto">
@@ -274,10 +277,4 @@
           <td class="memname">flair::filter::SimuAhrs::SimuAhrs </td>
           <td>(</td>
-          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a> *&#160;</td>
-          <td class="paramname"><em>parent</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
           <td class="paramtype">std::string&#160;</td>
           <td class="paramname"><em>name</em>, </td>
@@ -287,5 +284,11 @@
           <td></td>
           <td class="paramtype">uint32_t&#160;</td>
-          <td class="paramname"><em>dev_id</em>, </td>
+          <td class="paramname"><em>modelId</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>deviceId</em>, </td>
         </tr>
         <tr>
@@ -304,10 +307,10 @@
 
 <p>Constructor. </p>
-<p>Construct a simulation <a class="el" href="classflair_1_1filter_1_1_ahrs.html" title="Abstract class for AHRS. ">Ahrs</a>.</p>
+<p>Construct a simulation <a class="el" href="classflair_1_1filter_1_1_ahrs.html" title="Abstract class for AHRS. ">Ahrs</a>. It will be child of the FrameworkManager.</p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramname">parent</td><td>parent </td></tr>
     <tr><td class="paramname">name</td><td>name </td></tr>
-    <tr><td class="paramname">dev_id</td><td>number id of the simulated <a class="el" href="classflair_1_1filter_1_1_ahrs.html" title="Abstract class for AHRS. ">Ahrs</a> </td></tr>
+    <tr><td class="paramname">modelId</td><td>Model id </td></tr>
+    <tr><td class="paramname">deviceId</td><td><a class="el" href="classflair_1_1filter_1_1_ahrs.html" title="Abstract class for AHRS. ">Ahrs</a> id of the Model </td></tr>
     <tr><td class="paramname">priority</td><td>priority of the SimuImu Thread </td></tr>
   </table>
@@ -331,23 +334,4 @@
 
 <p>Destructor. </p>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a class="anchor" id="a62d4c34069a45aa85acb5d16c0ecccc2"></a>
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void flair::filter::SimuAhrs::Start </td>
-          <td>(</td>
-          <td class="paramtype">void&#160;</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-
-<p>Start SimuImu Thread. </p>
 
 </div>
@@ -359,5 +343,5 @@
   <ul>
     <li class="navelem"><a class="el" href="namespaceflair.html">flair</a></li><li class="navelem"><a class="el" href="namespaceflair_1_1filter.html">filter</a></li><li class="navelem"><a class="el" href="classflair_1_1filter_1_1_simu_ahrs.html">SimuAhrs</a></li>
-    <li class="footer">Generated on Tue Jan 17 2017 09:52:31 for Flair by
+    <li class="footer">Generated on Wed May 31 2017 13:50:37 for Flair by
     <a href="http://www.doxygen.org/index.html">
     <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
