Flair
Framework Libre Air
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 Vector3Df &angularRates)
 Set angular rates. More...
 
Vector3Df GetAngularRates (void) const
 Get angular rates. More...
 
void GetQuaternionAndAngularRates (Quaternion &quaternion, Vector3Df &angularRates) const
 Get both quaternion and angular rates. More...
 
void SetQuaternionAndAngularRates (const Quaternion &quaternion, const Vector3Df &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, also caluculates the delta time based on last call. More...
 
void SetDataTime (Time time, Time deltaTime)
 Set data time and delta time (thus delta time is not based on last call) More...
 
Time DataTime (void) const
 Data time. More...
 
Time DataDeltaTime (void) const
 Data delta time. More...
 
void GetDataTime (Time &time, Time &deltaTime) const
 Get data time and delta time. More...
 
const io_dataPrev (int n) const
 Previous data. More...
 
virtual void RawWrite (char *src)
 Raw write datas. 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 Vector3Df angularRates)

Set angular rates.

This method is mutex protected.

Parameters
angularRatesangular rates
Vector3Df flair::core::AhrsData::GetAngularRates ( void  ) const

Get angular rates.

This method is mutex protected.

Returns
angular rates
void flair::core::AhrsData::GetQuaternionAndAngularRates ( Quaternion quaternion,
Vector3Df 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 Vector3Df angularRates 
)

Set both quaternion and angular rates.

This method is mutex protected.

Parameters
quaternionquaternion
angularRatesangular rates