Flair
Framework Libre Air
flair::core::ImuData Class Reference

Class defining IMU datas. More...

#include <ImuData.h>

+ Inheritance diagram for flair::core::ImuData:

Classes

class  Type
 

Public Types

enum  PlotableData_t {
  RawAx, RawAy, RawAz, RawGx,
  RawGy, RawGz, RawGxDeg, RawGyDeg,
  RawGzDeg, RawMx, RawMy, RawMz
}
 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

 ImuData (const Object *parent, std::string name="", int n=1)
 Constructor. More...
 
 ~ImuData ()
 Destructor. More...
 
IODataElementElement (PlotableData_t data_type) const
 Element. More...
 
Vector3D GetRawAcc (void) const
 Get raw accelerations. More...
 
Vector3D GetRawMag (void) const
 Get raw magnetometers. More...
 
Vector3D GetRawGyr (void) const
 Get raw angular speed. More...
 
void GetRawAccMagAndGyr (Vector3D &rawAcc, Vector3D &rawMag, Vector3D &rawGyr) const
 Get raw accelerations, magnetometers and angular speeds. More...
 
void SetRawAcc (const Vector3D &rawAcc)
 Set raw accelerations. More...
 
void SetRawMag (const Vector3D &rawMag)
 Set raw magnetometers. More...
 
void SetRawGyr (const Vector3D &rawGyr)
 Set raw angular speed. More...
 
void SetRawAccMagAndGyr (const Vector3D &rawAcc, const Vector3D &rawMag, const Vector3D &rawGyr)
 Set raw accelerations, magnetometers and angular speeds. More...
 
Type const & GetDataType () 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 IMU datas.

IMU (inertial measurement unit) datas consist of raw accelerometer values, raw gyrometer values and raw magnetometer values.

Member Enumeration Documentation

Datas wich can be plotted in a DataPlot1D.

Enumerator
RawAx 

x raw accelerometer

RawAy 

y raw accelerometer

RawAz 

z raw accelerometer

RawGx 

x raw gyrometer

RawGy 

y raw gyrometer

RawGz 

z raw gyrometer

RawGxDeg 

x raw gyrometer degree

RawGyDeg 

y raw gyrometer degree

RawGzDeg 

z raw gyrometer degree

RawMx 

x raw magnetometer

RawMy 

y raw magnetometer

RawMz 

z raw magnetometer

Constructor & Destructor Documentation

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

Constructor.

Construct an io_data representing IMU datas.

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

Destructor.

Member Function Documentation

IODataElement* flair::core::ImuData::Element ( PlotableData_t  data_type) const

Element.

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

Parameters
data_typedata type
Returns
pointer to the element
Vector3D flair::core::ImuData::GetRawAcc ( void  ) const

Get raw accelerations.

This method is mutex protected.

Returns
raw accelerations
Vector3D flair::core::ImuData::GetRawMag ( void  ) const

Get raw magnetometers.

This method is mutex protected.

Returns
raw magnetometers
Vector3D flair::core::ImuData::GetRawGyr ( void  ) const

Get raw angular speed.

This method is mutex protected.

Returns
raw angular speed
void flair::core::ImuData::GetRawAccMagAndGyr ( Vector3D rawAcc,
Vector3D rawMag,
Vector3D rawGyr 
) const

Get raw accelerations, magnetometers and angular speeds.

This method is mutex protected.

Parameters
rawAccraw accelerations
rawMagraw magnetometers
rawGyrraw angular speeds
void flair::core::ImuData::SetRawAcc ( const Vector3D rawAcc)

Set raw accelerations.

This method is mutex protected.

Parameters
rawaccelerations
void flair::core::ImuData::SetRawMag ( const Vector3D rawMag)

Set raw magnetometers.

This method is mutex protected.

Parameters
rawmagnetometers
void flair::core::ImuData::SetRawGyr ( const Vector3D rawGyr)

Set raw angular speed.

This method is mutex protected.

Parameters
rawangular speed
void flair::core::ImuData::SetRawAccMagAndGyr ( const Vector3D rawAcc,
const Vector3D rawMag,
const Vector3D rawGyr 
)

Set raw accelerations, magnetometers and angular speeds.

This method is mutex protected.

Parameters
rawAccraw accelerations
rawMagraw magnetometers
rawGyrraw angular speeds