| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file Imu.hpp | ||
| 10 | /// @brief Abstract IMU Class | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-03-12 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "internal/Node/Node.hpp" | ||
| 17 | |||
| 18 | #include "NodeData/IMU/ImuPos.hpp" | ||
| 19 | |||
| 20 | namespace NAV | ||
| 21 | { | ||
| 22 | /// Abstract IMU Class | ||
| 23 | class Imu : public Node | ||
| 24 | { | ||
| 25 | public: | ||
| 26 | /// @brief Destructor | ||
| 27 | 2128 | ~Imu() override = default; | |
| 28 | /// @brief Copy constructor | ||
| 29 | Imu(const Imu&) = delete; | ||
| 30 | /// @brief Move constructor | ||
| 31 | Imu(Imu&&) = delete; | ||
| 32 | /// @brief Copy assignment operator | ||
| 33 | Imu& operator=(const Imu&) = delete; | ||
| 34 | /// @brief Move assignment operator | ||
| 35 | Imu& operator=(Imu&&) = delete; | ||
| 36 | |||
| 37 | /// @brief ImGui config window which is shown on double click | ||
| 38 | /// @attention Don't forget to set _hasConfig to true in the constructor of the node | ||
| 39 | void guiConfig() override; | ||
| 40 | |||
| 41 | /// @brief Saves the node into a json object | ||
| 42 | [[nodiscard]] json save() const override; | ||
| 43 | |||
| 44 | /// @brief Restores the node from a json object | ||
| 45 | /// @param[in] j Json object with the node state | ||
| 46 | void restore(const json& j) override; | ||
| 47 | |||
| 48 | /// Position and rotation information for conversion from platform to body frame | ||
| 49 | [[nodiscard]] const ImuPos& imuPosition() const { return _imuPos; } | ||
| 50 | |||
| 51 | protected: | ||
| 52 | /// @brief Constructor | ||
| 53 | /// @param[in] name Name of the node | ||
| 54 | explicit Imu(std::string name); | ||
| 55 | |||
| 56 | /// Position and rotation information for conversion from platform to body frame | ||
| 57 | ImuPos _imuPos; | ||
| 58 | }; | ||
| 59 | |||
| 60 | } // namespace NAV | ||
| 61 |