Changeset 50 in flair-dev for trunk/include/FlairSensorActuator/Imu.h


Ignore:
Timestamp:
May 31, 2017, 3:54:26 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

doc

File:
1 edited

Legend:

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  • trunk/include/FlairSensorActuator/Imu.h

    r36 r50  
    1515
    1616#include <IODevice.h>
     17#include <Vector3D.h>
    1718
    1819namespace flair {
     
    4950  *
    5051  * Construct an Imu.
     52        * It will be child of the FrameworkManager.
    5153  *
    52   * \param parent parent
    5354  * \param name name
    5455  */
    55   Imu(const core::FrameworkManager *parent, std::string name);
     56  Imu(std::string name);
    5657
    5758  /*!
     
    7172  */
    7273  ~Imu();
     74 
     75  /*!
     76  * \brief Get IMU datas
     77  *
     78  * \return ImuData
     79  */
     80  const core::ImuData *GetDatas(void) const;
     81
    7382
    7483  /*!
     
    121130
    122131  /*!
    123   * \brief UpdateImu
     132  * \brief ApplyRotation
    124133  *
    125   * The reimplemented class must call this function as soon as IMU datas are
    126   *available. \n
     134  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
    127135  * It handles the data rotation if it was defined.
    128136  *
     137  * \param vector vector to apply rotation to
    129138  */
    130   void UpdateImu();
     139  void ApplyRotation(core::Vector3Df& vector);
     140 
     141  /*!
     142  * \brief ApplyRotation
     143  *
     144  * The reimplemented class must call this function to rotate IMU datas, before filling the ImuData. \n
     145  * It handles the data rotation if it was defined.
     146  *
     147  * \param quaternion quaternion to apply rotation to
     148  */
     149  void ApplyRotation(core::Quaternion& quaternion);
    131150
    132151  /*!
    133152  * \brief Get imu datas
    134153  *
     154  * Can be used by dervied class to fill core::ImuData
     155  *
    135156  * \param imuData imu datas
    136157  */
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