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

Timestamp:

May 31, 2017, 3:54:26 PM (4 years ago)

Author:

Sanahuja Guillaume

Message:

doc

File:

• trunk/include/FlairSensorActuator/VrpnObject.h (modified) (8 diffs)

trunk/include/FlairSensorActuator/VrpnObject.h

@@ -16 +16 @@
 
 #include <IODevice.h>
+#include <Vector3D.h>
 #include <stdint.h>
 
@@ -21 +22 @@
         namespace core {
                 class cvmatrix;
-                class Vector3D;
-                class Euler;
                 class Quaternion;
         }
@@ -101 +100 @@
 
   /*!
-  * \brief Get Euler angles
-  *
-  * \param euler output datas
-  */
-  void GetEuler(core::Euler &euler) const;
-
-  /*!
   * \brief Get Quaternion
   *
@@ -118 +110 @@
   * \param point output datas
   */
-  void GetPosition(core::Vector3D &point) const;
+  void GetPosition(core::Vector3Df &point) const;
 
   /*!
@@ -124 +116 @@
   *
   * Matrix is of type float and as follows: \n
-  * (0,0) roll (rad) \n
-  * (1,0) pitch (rad) \n
-  * (2,0) yaw (rad) \n
-  * (3,0) x \n
-  * (4,0) y \n
-  * (5,0) z \n
+  * (0,0) q0 \n
+  * (1,0) q1 \n
+  * (2,0) q2 \n
+        * (3,0) q3 \n
+  * (4,0) x \n
+  * (5,0) y \n
+  * (6,0) z \n
   *
-  * \return Output metrix
+  * \return Output matrix
   */
   core::cvmatrix *Output(void) const;
@@ -138 +131 @@
   * \brief State matrix
   *
+        * Used for plotting on ground station. \n
   * Matrix is of type float and as follows: \n
   * (0,0) roll (deg) \n
@@ -143 +137 @@
   * (2,0) yaw (deg) \n
   *
-  * \return State metrix
+  * \return State matrix
   */
   core::cvmatrix *State(void) const;
@@ -178 +172 @@
   void UpdateFrom(const core::io_data *data){};
 
-  void mainloop(void);
   class VrpnObject_impl *pimpl_;
 };