amcl_imu.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2000 Brian Gerkey et al.
4  *
5  * This program is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
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10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
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13  * GNU General Public License for more details.
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16  * along with this program; if not, write to the Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18  *
19  */
21 //
22 // Desc: IMU (compass) sensor model for AMCL
23 // Author: Andrew Howard
24 // Date: 17 Aug 2003
25 // CVS: $Id$
26 //
28 
29 #ifndef AMCL_IMU_H
30 #define AMCL_IMU_H
31 
32 #include "amcl_sensor.h"
33 #include "models/imu.h"
34 
35 // Imuetric sensor model
36 class AMCLImu : public AMCLSensor
37 {
38  // Default constructor
39  public: AMCLImu();
40 
41  // Load the model
42  public: virtual int Load(ConfigFile* cf, int section);
43 
44  // Unload the model
45  public: virtual int Unload(void);
46 
47  // Initialize the model
48  public: virtual int Setup(void);
49 
50  // Finalize the model
51  public: virtual int Shutdown(void);
52 
53  // Check for new sensor measurements
54  private: virtual bool GetData(void);
55 
56  // Update the filter based on the sensor model. Returns true if the
57  // filter has been updated.
58  public: virtual bool UpdateSensor(pf_t *pf);
59 
60  // Device info
61  private: int imu_index;
62  private: Driver *device;
63 
64  // Imuetry sensor/action model
65  private: imu_model_t *model;
66 
67  // Current data timestamp
68  private: uint32_t tsec, tusec;
69 
70  // Magnetic deviation
71  private: double utm_mag_dev;
72 
73  // Current IMU data
74  private: double utm_head;
75 
76 #ifdef INCLUDE_RTKGUI
77  // Setup the GUI
78  private: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
79 
80  // Finalize the GUI
81  private: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
82 
83  // Draw sensor data
84  private: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
85 
86  // IMU figure
87  private: rtk_fig_t *fig;
88 #endif
89 };
90 
91 
92 
93 
94 #endif
Definition: amcl_imu.h:37
Definition: amcl_sensor.h:44
Class for loading configuration file information.
Definition: configfile.h:197
Base class for all drivers.
Definition: driver.h:109
Definition: pf.h:111
Definition: imu.h:41