Changeset 99 in flair-src


Ignore:
Timestamp:
Oct 5, 2016, 3:02:20 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

rotation pour 3dmgx3

Location:
trunk/lib
Files:
3 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp

    r15 r99  
    1919#include <FrameworkManager.h>
    2020#include <AhrsData.h>
     21#include <OneAxisRotation.h>
    2122
    2223using std::string;
     
    4546  Vector3D filteredAngRates;
    4647  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
     48  GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
     49  GetImu()->GetOneAxisRotation()->ComputeRotation(filteredAngRates);
    4750  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
    4851  output->SetDataTime(input->DataTime());
  • trunk/lib/FlairSensorActuator/src/Imu.cpp

    r55 r99  
    5959
    6060void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
     61
     62OneAxisRotation *Imu::GetOneAxisRotation(void) const {
     63  return rotation;
     64}
    6165
    6266void Imu::UpdateImu() {
  • trunk/lib/FlairSensorActuator/src/Imu.h

    r51 r99  
    104104  gui::Tab *GetPlotTab(void) const;
    105105
     106  /*!
     107  * \brief Get OneAxisRotation
     108  *
     109  * \return fixed rotation of the imu
     110  */
     111  core::OneAxisRotation *GetOneAxisRotation(void) const;
     112
     113
    106114protected:
    107115  /*!
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