Flair
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flair::core::AhrsData Class Reference

Class defining AHRS datas. More...

#include <AhrsData.h>

+ Inheritance diagram for flair::core::AhrsData:

Classes

class  Type
 

Public Types

enum  PlotableData_t {
  Roll, Pitch, Yaw, RollDeg,
  PitchDeg, YawDeg, Q0, Q1,
  Q2, Q3, Wx, Wy,
  Wz, WxDeg, WyDeg, WzDeg
}
 Datas wich can be plotted in a DataPlot1D. More...
 
- Public Types inherited from flair::core::Object
enum  color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 }
 

Public Member Functions

 AhrsData (const Object *parent, std::string name="", int n=1)
 Constructor. More...
 
 ~AhrsData ()
 Destructor. More...
 
IODataElementElement (PlotableData_t plotableData) const
 Element. More...
 
void SetQuaternion (const Quaternion &quaternion)
 Set quaternion. More...
 
Quaternion GetQuaternion (void) const
 Get quaternion. More...
 
void SetAngularRates (const Vector3D &angularRates)
 Set angular rates. More...
 
Vector3D GetAngularRates (void) const
 Get angular rates. More...
 
void GetQuaternionAndAngularRates (Quaternion &quaternion, Vector3D &angularRates) const
 Get both quaternion and angular rates. More...
 
void SetQuaternionAndAngularRates (const Quaternion &quaternion, const Vector3D &angularRates)
 Set both quaternion and angular rates. More...
 
const TypeGetDataType () const
 
- Public Member Functions inherited from flair::core::io_data
 io_data (const Object *parent, std::string name, int n)
 Constructor. More...
 
virtual ~io_data ()
 Destructor. More...
 
void SetDataTime (Time time)
 Set data time. More...
 
Time DataTime (void) const
 Data time. More...
 
const io_dataPrev (int n) const
 Previous data. More...
 
- Public Member Functions inherited from flair::core::Mutex
 Mutex (const Object *parent, std::string name="")
 Constructor. More...
 
 ~Mutex ()
 Destructor. More...
 
void GetMutex (void) const
 GetMutex. More...
 
void ReleaseMutex (void) const
 ReleaseMutex. More...
 
- Public Member Functions inherited from flair::core::Object
 Object (const Object *parent=NULL, std::string name="", std::string type="")
 Constructor. More...
 
virtual ~Object ()
 Destructor. More...
 
std::string ObjectName (void) const
 Name. More...
 
std::string ObjectType (void) const
 Type. More...
 
const ObjectParent (void) const
 Parent. More...
 
std::vector< const Object * > * TypeChilds (void) const
 Childs of the same type. More...
 
std::vector< const Object * > * Childs (void) const
 Childs. More...
 
void Information (const char *function, int line, const char *format,...) const
 Formatted information. More...
 
void Warning (const char *function, const char *format,...) const
 Formatted warning. More...
 
void Error (const char *function, const char *format,...) const
 Formatted error. More...
 
bool ErrorOccured (bool recursive=true) const
 Has an errror occured? More...
 

Additional Inherited Members

- Protected Member Functions inherited from flair::core::io_data
void AppendLogDescription (std::string description, DataType const &datatype)
 Specify the description of the reimplemented class data's. More...
 
void SetPtrToCircle (void **ptr)
 Set the datas to circle. More...
 
- Protected Attributes inherited from flair::core::io_data
io_dataprev
 Pointer to previous data. More...
 

Detailed Description

Class defining AHRS datas.

AHRS datas consist of quaternion and rotational angles values.

Member Enumeration Documentation

Datas wich can be plotted in a DataPlot1D.

Enumerator
Roll 

roll

Pitch 

pitch

Yaw 

yaw

RollDeg 

roll degree

PitchDeg 

pitch degree

YawDeg 

yaw degree

Q0 

quaternion 0

Q1 

quaternion 1

Q2 

quaternion 2

Q3 

quaternion 3

Wx 

x filtered angular rate

Wy 

y filtered angular rate

Wz 

z filtered angular rate

WxDeg 

x filtered angular rate degree

WyDeg 

y filtered angular rate degree

WzDeg 

z filtered angular rate degree

Constructor & Destructor Documentation

flair::core::AhrsData::AhrsData ( const Object parent,
std::string  name = "",
int  n = 1 
)

Constructor.

Construct an io_data representing AHRS datas.

Parameters
parentparent
namename
nnumber of samples
flair::core::AhrsData::~AhrsData ( )

Destructor.

Member Function Documentation

IODataElement* flair::core::AhrsData::Element ( PlotableData_t  plotableData) const

Element.

Get a pointer to a specific element. This pointer can be used for plotting.

Parameters
plotableDatadata type
Returns
pointer to the element
void flair::core::AhrsData::SetQuaternion ( const Quaternion quaternion)

Set quaternion.

This method is mutex protected.

Parameters
quaternionquaternion
Quaternion flair::core::AhrsData::GetQuaternion ( void  ) const

Get quaternion.

This method is mutex protected.

Returns
quaternion
void flair::core::AhrsData::SetAngularRates ( const Vector3D angularRates)

Set angular rates.

This method is mutex protected.

Parameters
angularRatesangular rates
Vector3D flair::core::AhrsData::GetAngularRates ( void  ) const

Get angular rates.

This method is mutex protected.

Returns
angular rates
void flair::core::AhrsData::GetQuaternionAndAngularRates ( Quaternion quaternion,
Vector3D angularRates 
) const

Get both quaternion and angular rates.

This method is mutex protected.

Parameters
quaternionquaternion
angularRatesangular rates
void flair::core::AhrsData::SetQuaternionAndAngularRates ( const Quaternion quaternion,
const Vector3D angularRates 
)

Set both quaternion and angular rates.

This method is mutex protected.

Parameters
quaternionquaternion
angularRatesangular rates