Index: trunk/doc/Flair/classflair_1_1sensor_1_1_imu.html
===================================================================
--- trunk/doc/Flair/classflair_1_1sensor_1_1_imu.html	(revision 47)
+++ trunk/doc/Flair/classflair_1_1sensor_1_1_imu.html	(revision 50)
@@ -138,7 +138,7 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
 Public Member Functions</h2></td></tr>
-<tr class="memitem:a2ee0420d6e69be3a51c9ad1ac1c6b386"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#a2ee0420d6e69be3a51c9ad1ac1c6b386">Imu</a> (const <a class="el" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a> *parent, std::string name)</td></tr>
-<tr class="memdesc:a2ee0420d6e69be3a51c9ad1ac1c6b386"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a2ee0420d6e69be3a51c9ad1ac1c6b386">More...</a><br /></td></tr>
-<tr class="separator:a2ee0420d6e69be3a51c9ad1ac1c6b386"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8c2e7ec4d6d6d4efd175d2ce0811159"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#ab8c2e7ec4d6d6d4efd175d2ce0811159">Imu</a> (std::string name)</td></tr>
+<tr class="memdesc:ab8c2e7ec4d6d6d4efd175d2ce0811159"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#ab8c2e7ec4d6d6d4efd175d2ce0811159">More...</a><br /></td></tr>
+<tr class="separator:ab8c2e7ec4d6d6d4efd175d2ce0811159"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a5dc17ecf8caf9aaa41ec0a6ec43adf6a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#a5dc17ecf8caf9aaa41ec0a6ec43adf6a">Imu</a> (const <a class="el" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *parent, std::string name)</td></tr>
 <tr class="memdesc:a5dc17ecf8caf9aaa41ec0a6ec43adf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a5dc17ecf8caf9aaa41ec0a6ec43adf6a">More...</a><br /></td></tr>
@@ -147,4 +147,7 @@
 <tr class="memdesc:ab01ce2e6b89698b001da63ae8df1722a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#ab01ce2e6b89698b001da63ae8df1722a">More...</a><br /></td></tr>
 <tr class="separator:ab01ce2e6b89698b001da63ae8df1722a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb1105fe7b1c21234b6edde4d64da428"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#adb1105fe7b1c21234b6edde4d64da428">GetDatas</a> (void) const </td></tr>
+<tr class="memdesc:adb1105fe7b1c21234b6edde4d64da428"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get IMU datas.  <a href="#adb1105fe7b1c21234b6edde4d64da428">More...</a><br /></td></tr>
+<tr class="separator:adb1105fe7b1c21234b6edde4d64da428"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a1d74dd0b750c287b112489786ff5b7eb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1gui_1_1_layout.html">gui::Layout</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#a1d74dd0b750c287b112489786ff5b7eb">GetLayout</a> (void) const </td></tr>
 <tr class="memdesc:a1d74dd0b750c287b112489786ff5b7eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setup Layout.  <a href="#a1d74dd0b750c287b112489786ff5b7eb">More...</a><br /></td></tr>
@@ -181,4 +184,7 @@
 <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>
@@ -227,7 +233,10 @@
 <tr class="memdesc:aa67100f97133a4d1eb4f3a225970eb85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setup GroupBox.  <a href="#aa67100f97133a4d1eb4f3a225970eb85">More...</a><br /></td></tr>
 <tr class="separator:aa67100f97133a4d1eb4f3a225970eb85"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a32a260c66ae679869d7628c561c35346"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#a32a260c66ae679869d7628c561c35346">UpdateImu</a> ()</td></tr>
-<tr class="memdesc:a32a260c66ae679869d7628c561c35346"><td class="mdescLeft">&#160;</td><td class="mdescRight">UpdateImu.  <a href="#a32a260c66ae679869d7628c561c35346">More...</a><br /></td></tr>
-<tr class="separator:a32a260c66ae679869d7628c561c35346"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad19d0939034366aafe24aceaf41a936f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#ad19d0939034366aafe24aceaf41a936f">ApplyRotation</a> (<a class="el" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> &amp;vector)</td></tr>
+<tr class="memdesc:ad19d0939034366aafe24aceaf41a936f"><td class="mdescLeft">&#160;</td><td class="mdescRight">ApplyRotation.  <a href="#ad19d0939034366aafe24aceaf41a936f">More...</a><br /></td></tr>
+<tr class="separator:ad19d0939034366aafe24aceaf41a936f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf735d7535414d32e023d5eef8d525fc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#aaf735d7535414d32e023d5eef8d525fc">ApplyRotation</a> (<a class="el" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &amp;quaternion)</td></tr>
+<tr class="memdesc:aaf735d7535414d32e023d5eef8d525fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">ApplyRotation.  <a href="#aaf735d7535414d32e023d5eef8d525fc">More...</a><br /></td></tr>
+<tr class="separator:aaf735d7535414d32e023d5eef8d525fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aa020369da0c3f8c80eef6abf9cad0cd9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1sensor_1_1_imu.html#aa020369da0c3f8c80eef6abf9cad0cd9">GetDatas</a> (<a class="el" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> **imuData) const </td></tr>
 <tr class="memdesc:aa020369da0c3f8c80eef6abf9cad0cd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get imu datas.  <a href="#aa020369da0c3f8c80eef6abf9cad0cd9">More...</a><br /></td></tr>
@@ -237,4 +246,7 @@
 <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><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
@@ -252,5 +264,5 @@
 <p>Use this class to define a custom <a class="el" href="classflair_1_1sensor_1_1_imu.html" title="Base class for Imu. ">Imu</a>. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a class="anchor" id="a2ee0420d6e69be3a51c9ad1ac1c6b386"></a>
+<a class="anchor" id="ab8c2e7ec4d6d6d4efd175d2ce0811159"></a>
 <div class="memitem">
 <div class="memproto">
@@ -259,17 +271,7 @@
           <td class="memname">flair::sensor::Imu::Imu </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 class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
           <td></td>
-          <td class="paramtype">std::string&#160;</td>
-          <td class="paramname"><em>name</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
         </tr>
       </table>
@@ -277,8 +279,7 @@
 
 <p>Constructor. </p>
-<p>Construct an <a class="el" href="classflair_1_1sensor_1_1_imu.html" title="Base class for Imu. ">Imu</a>.</p>
+<p>Construct an <a class="el" href="classflair_1_1sensor_1_1_imu.html" title="Base class for Imu. ">Imu</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>
   </table>
@@ -343,4 +344,23 @@
 </div>
 <h2 class="groupheader">Member Function Documentation</h2>
+<a class="anchor" id="adb1105fe7b1c21234b6edde4d64da428"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a>* flair::sensor::Imu::GetDatas </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get IMU datas. </p>
+<dl class="section return"><dt>Returns</dt><dd>ImuData </dd></dl>
+
+</div>
+</div>
 <a class="anchor" id="a1d74dd0b750c287b112489786ff5b7eb"></a>
 <div class="memitem">
@@ -481,5 +501,5 @@
 </div>
 </div>
-<a class="anchor" id="a32a260c66ae679869d7628c561c35346"></a>
+<a class="anchor" id="ad19d0939034366aafe24aceaf41a936f"></a>
 <div class="memitem">
 <div class="memproto">
@@ -489,7 +509,8 @@
       <table class="memname">
         <tr>
-          <td class="memname">void flair::sensor::Imu::UpdateImu </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
+          <td class="memname">void flair::sensor::Imu::ApplyRotation </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> &amp;&#160;</td>
+          <td class="paramname"><em>vector</em></td><td>)</td>
           <td></td>
         </tr>
@@ -502,11 +523,17 @@
 </div><div class="memdoc">
 
-<p>UpdateImu. </p>
-<p>The reimplemented class must call this function as soon as IMU datas are available. <br />
- It handles the data rotation if it was defined. </p>
-
-</div>
-</div>
-<a class="anchor" id="aa020369da0c3f8c80eef6abf9cad0cd9"></a>
+<p>ApplyRotation. </p>
+<p>The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. <br />
+It handles the data rotation if it was defined.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">vector</td><td>vector to apply rotation to </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a class="anchor" id="aaf735d7535414d32e023d5eef8d525fc"></a>
 <div class="memitem">
 <div class="memproto">
@@ -516,9 +543,9 @@
       <table class="memname">
         <tr>
-          <td class="memname">void flair::sensor::Imu::GetDatas </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> **&#160;</td>
-          <td class="paramname"><em>imuData</em></td><td>)</td>
-          <td> const</td>
+          <td class="memname">void flair::sensor::Imu::ApplyRotation </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &amp;&#160;</td>
+          <td class="paramname"><em>quaternion</em></td><td>)</td>
+          <td></td>
         </tr>
       </table>
@@ -530,5 +557,40 @@
 </div><div class="memdoc">
 
+<p>ApplyRotation. </p>
+<p>The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. <br />
+It handles the data rotation if it was defined.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>quaternion to apply rotation to </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a class="anchor" id="aa020369da0c3f8c80eef6abf9cad0cd9"></a>
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void flair::sensor::Imu::GetDatas </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_imu_data.html">core::ImuData</a> **&#160;</td>
+          <td class="paramname"><em>imuData</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
 <p>Get imu datas. </p>
+<p>Can be used by dervied class to fill <a class="el" href="classflair_1_1core_1_1_imu_data.html" title="Class defining IMU datas. ">core::ImuData</a></p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
@@ -546,5 +608,5 @@
   <ul>
     <li class="navelem"><a class="el" href="namespaceflair.html">flair</a></li><li class="navelem"><a class="el" href="namespaceflair_1_1sensor.html">sensor</a></li><li class="navelem"><a class="el" href="classflair_1_1sensor_1_1_imu.html">Imu</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>
