AhrsData.h

Go to the documentation of this file.

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef AHRSDATA_H
#define AHRSDATA_H

#include <io_data.h>
#include <IODataElement.h>
#include <Vector3D.h>
#include <Quaternion.h>

namespace flair {
namespace core {

class AhrsData : public io_data {
public:
  class Type : public DataType {
  public:
    Type(const ScalarType &inElementDataType)
        : elementDataType(inElementDataType) {}
    const ScalarType &GetElementDataType() const { return elementDataType; }
    std::string GetDescription() const { return "ahrs data"; }
    size_t GetSize() const { return 7 * elementDataType.GetSize(); }

  private:
    const ScalarType &elementDataType;
  };

  typedef enum {
    Roll ,
    Pitch ,
    Yaw ,
    RollDeg ,
    PitchDeg ,
    YawDeg ,
    Q0 ,
    Q1 ,
    Q2 ,
    Q3 ,
    Wx ,
    Wy ,
    Wz ,
    WxDeg ,
    WyDeg ,
    WzDeg ,
  } PlotableData_t;

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

  ~AhrsData();

  IODataElement *Element(PlotableData_t plotableData) const;

  void SetQuaternion(const Quaternion &quaternion);

  Quaternion GetQuaternion(void) const;

  void SetAngularRates(const Vector3Df &angularRates);

  Vector3Df GetAngularRates(void) const;

  void GetQuaternionAndAngularRates(Quaternion &quaternion,
                                    Vector3Df &angularRates) const;

  void SetQuaternionAndAngularRates(const Quaternion &quaternion,
                                    const Vector3Df &angularRates);

  const Type &GetDataType() const { return dataType; }

private:
  void RawRead(char *dst) const;

  void Queue(char **dst, const void *src, size_t size) const;

  Quaternion quaternion;

  Vector3Df angularRates;

  Type dataType;
};

} // end namespace core
} // end namespace flair

#endif // AHRSDATA_H