DMU Class Reference

#include <DMU.h>

Collaboration diagram for DMU:

[legend]List of all members.

Public Member Functions
	DMU (int _mode)
	~DMU ()
void	GetDigitalReading (int _channelID, timeval &_timeStamp, double &_rateData)
void	GetAnalogReading (int _channelID, DAQCard *_mycard, timeval &_timeStamp, double &_rateData)
Vector	GetLocation ()
Vector	GetSensorToBodyQuaternion (int id)
int	Initialize (int _mode)
void	SetLocation (const Vector &newDeviceLocation)
void	SetSensorToBodyQuaternions (const Vector &newDeviceQuaternion)
Static Public Member Functions
DMU *	Instance (int _mode)
Private Attributes
Vector	m_location
Vector	m_sensorToBodyQuaternion
Vector	m_dmuXToBodyQuaternion
Vector	m_dmuYToBodyQuaternion
Vector	m_dmuZToBodyQuaternion
adat_t *	m_ptrToReadData
int	m_prate
int	m_tempBuffSize
timeval	m_initTime
timeval	m_GetReadingTime
long	m_delta_t
long	m_timeToler
int	m_firstCall
int	m_numread
Static Private Attributes
DMU *	s_instance = NULL

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Constructor & Destructor Documentation

DMU::DMU (  int  _mode  )

Constructors Definition at line 20 of file realDMU.cpp. References Initialize(). Referenced by Instance().

DMU::~DMU (   )

Deconstructors Definition at line 358 of file fakeDMU.cpp.

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Member Function Documentation

void DMU::GetAnalogReading (  int  _channelID, DAQCard *  _mycard, timeval &  _timeStamp, double &  _rateData )

Gets the reading when the MoPak is used in analog operating mode Definition at line 216 of file realDMU.cpp. References ADscan(), DAQCard::m_cardData, and m_GetReadingTime. Referenced by DMURateGyro::GetMeasurement(), and DMUAccelerometer::GetMeasurement().

void DMU::GetDigitalReading (  int  _channelID, timeval &  _timeStamp, double &  _rateData )

Gets the reading when the MoPak is used in digital operating mode Definition at line 227 of file realDMU.cpp. References dmuReadData(), m_delta_t, m_firstCall, m_GetReadingTime, m_numread, m_ptrToReadData, m_tempBuffSize, adat_t::temp, adat_t::xaccel, adat_t::xrate, adat_t::yaccel, adat_t::yrate, adat_t::zaccel, and adat_t::zrate. Referenced by DMURateGyro::GetMeasurement(), and DMUAccelerometer::GetMeasurement().

Vector DMU::GetLocation (   )

Get the location of the MoPak Definition at line 184 of file fakeDMU.cpp. References O_SESSAME::Vector. Referenced by DMUTemperatureSensor::GetLocation(), DMURateGyro::GetLocation(), and DMUAccelerometer::GetLocation().

Vector DMU::GetSensorToBodyQuaternion (  int  id  )

Get the quaternion from the Sensor frame to the body frame Definition at line 269 of file fakeDMU.cpp. References O_SESSAME::Vector. Referenced by DMURateGyro::GetSensorToBodyQuaternion(), and DMUAccelerometer::GetSensorToBodyQuaternion().

int DMU::Initialize (  int  _mode  )

Initialize the attitude sensor Definition at line 42 of file realDMU.cpp. References dmuInit(), m_firstCall, m_numread, m_prate, m_ptrToReadData, m_tempBuffSize, m_timeToler, SetLocation(), SetSensorToBodyQuaternions(), and O_SESSAME::Vector. Referenced by DMU().

DMU * DMU::Instance (  int  _mode  )  [static]

Function to return an instance of a single DMU, to prevent the application from trying to create multiple physical DMUs Definition at line 25 of file realDMU.cpp. References DMU(), and s_instance. Referenced by DMURateGyro::Initialize(), and DMUAccelerometer::Initialize().

void DMU::SetLocation (  const Vector &  newDeviceLocation  )

Set the location of the physical DMU device. Definition at line 179 of file fakeDMU.cpp. References m_location, and O_SESSAME::Vector. Referenced by Initialize().

void DMU::SetSensorToBodyQuaternions (  const Vector &  newDeviceQuaternion  )

Set the DMU to body quaternion, and from that the individual quaternions for each the sensors that comprise the DMU. Definition at line 189 of file fakeDMU.cpp. References O_SESSAME::Rotation::GetQuaternion(), m_dmuXToBodyQuaternion, m_dmuYToBodyQuaternion, m_dmuZToBodyQuaternion, m_sensorToBodyQuaternion, and O_SESSAME::Vector. Referenced by Initialize().

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Member Data Documentation

long DMU::m_delta_t [private]

Definition at line 91 of file DMU.h. Referenced by GetDigitalReading().

Vector DMU::m_dmuXToBodyQuaternion [private]

Definition at line 79 of file DMU.h. Referenced by SetSensorToBodyQuaternions().

Vector DMU::m_dmuYToBodyQuaternion [private]

Definition at line 80 of file DMU.h. Referenced by SetSensorToBodyQuaternions().

Vector DMU::m_dmuZToBodyQuaternion [private]

Definition at line 81 of file DMU.h. Referenced by SetSensorToBodyQuaternions().

int DMU::m_firstCall [private]

Definition at line 93 of file DMU.h. Referenced by GetDigitalReading(), and Initialize().

timeval DMU::m_GetReadingTime [private]

Definition at line 90 of file DMU.h. Referenced by GetAnalogReading(), and GetDigitalReading().

timeval DMU::m_initTime [private]

Definition at line 88 of file DMU.h.

Vector DMU::m_location [private]

Definition at line 76 of file DMU.h. Referenced by SetLocation().

int DMU::m_numread [private]

Definition at line 94 of file DMU.h. Referenced by GetDigitalReading(), and Initialize().

int DMU::m_prate [private]

Definition at line 85 of file DMU.h. Referenced by Initialize().

adat_t* DMU::m_ptrToReadData [private]

Definition at line 83 of file DMU.h. Referenced by GetDigitalReading(), and Initialize().

Vector DMU::m_sensorToBodyQuaternion [private]

Definition at line 77 of file DMU.h. Referenced by SetSensorToBodyQuaternions().

int DMU::m_tempBuffSize [private]

Definition at line 86 of file DMU.h. Referenced by GetDigitalReading(), and Initialize().

long DMU::m_timeToler [private]

Definition at line 92 of file DMU.h. Referenced by Initialize().

DMU * DMU::s_instance = NULL [static, private]

A static instance of a DMU, declared here and defined elsewhere, to assure all separate rate gyros and accelerometers refer to the same single DMU Definition at line 18 of file realDMU.cpp. Referenced by Instance().

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The documentation for this class was generated from the following files:

• DMU.h
• fakeDMU.cpp
• realDMU.cpp

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