Changeset 99 in flair-src

Timestamp:

Oct 5, 2016, 3:02:20 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

rotation pour 3dmgx3

Location:

trunk/lib

Files:

• FlairFilter/src/Gx3_25_ahrs.cpp (modified) (2 diffs)
• FlairSensorActuator/src/Imu.cpp (modified) (1 diff)
• FlairSensorActuator/src/Imu.h (modified) (1 diff)

trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp

@@ -19 +19 @@
 #include <FrameworkManager.h>
 #include <AhrsData.h>
+#include <OneAxisRotation.h>
 
 using std::string;
@@ -45 +46 @@
   Vector3D filteredAngRates;
   input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
+  GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
+  GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
   output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
   output->SetDataTime(input->DataTime());

trunk/lib/FlairSensorActuator/src/Imu.cpp

@@ -59 +59 @@
 
 void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
+
+OneAxisRotation *Imu::GetOneAxisRotation(void) const {
+  return rotation;
+}
 
 void Imu::UpdateImu() {

trunk/lib/FlairSensorActuator/src/Imu.h

@@ -104 +104 @@
   gui::Tab *GetPlotTab(void) const;
 
+  /*!
+  * \brief Get OneAxisRotation
+  *
+  * \return fixed rotation of the imu
+  */
+  core::OneAxisRotation *GetOneAxisRotation(void) const;
+
+
 protected:
   /*!