DMURateGyro Class Reference

#include <DMURateGyro.h>

Inheritance diagram for DMURateGyro:

[legend]Collaboration diagram for DMURateGyro:

[legend]List of all members.

Public Member Functions
	DMURateGyro ()
	DMURateGyro (int _channel)
	DMURateGyro (TiXmlHandle handle, string rateGyro)
	DMURateGyro constructor @ param handle XML handle with current whorl as starting node @ param rateGyro rate gyro name as given in xml config file.
	~DMURateGyro ()
int	Initialize ()
Measurement	GetMeasurement ()
Vector	GetSensorToBodyQuaternion ()
Vector	GetLocation ()
int	GetMode ()
bool	IsActive ()
	Returns the current state of m_bActiveState.
Vector	GetLocation () const
	Returns the physical location of the device with respect to whorl body coordinates.
void	SetLocation (const Vector &newDeviceLocation)
	Specify the physical location of the device with respect to whorl body coordinates.
Static Public Attributes
const bool	c_bNotActive = false
	a constant bool that is equal to false.
const bool	c_bActive = true
	a constant bool that is equal to true.
Protected Member Functions
virtual int	Deinitialize ()
	Deinitializes the device from further use.
Protected Attributes
char *	name
Private Attributes
DMU *	m_DMU
DAQCard *	m_DAQCard
int	m_channelID
int	m_mode
float	m_offset
float	m_rateScaleFactor

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Constructor & Destructor Documentation

DMURateGyro::DMURateGyro (   )  [inline]

create an object of type DMURateGyro Definition at line 32 of file DMURateGyro.h.

DMURateGyro::DMURateGyro (  int  _channel  )  [inline]

constructor which accepts argument to set the channel id Definition at line 35 of file DMURateGyro.h. References Initialize(), and m_channelID.

DMURateGyro::DMURateGyro (  TiXmlHandle  handle, string  rateGyro )

DMURateGyro constructor @ param handle XML handle with current whorl as starting node @ param rateGyro rate gyro name as given in xml config file. (standard) constructor which accepts the config file parsing information Definition at line 19 of file DMURateGyro.cpp. References checkResponse(), TiXmlHandle::Child(), TiXmlHandle::Element(), TiXmlHandle::FirstChild(), Measurement::GetAsDouble(), GetMeasurement(), Initialize(), m_channelID, m_mode, m_offset, and m_rateScaleFactor.

DMURateGyro::~DMURateGyro (   )  [inline]

Definition at line 44 of file DMURateGyro.h.

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Member Function Documentation

int Device::Deinitialize (   )  [protected, virtual, inherited]

Deinitializes the device from further use. Author: Andrew Turner Date: March 25, 1999 Prevents the device from being used. External Methods Called: SetActive(bool) Assumptions: None Reimplemented in ControlMomentGyro, LinearActuator, MomentumWheel, PhysicalControlMomentGyro, and PhysicalMomentumWheel. Definition at line 113 of file Device.cpp. References Device::c_bNotActive, and Device::SetActive(). Referenced by Device::~Device(), Relay::~Relay(), and Thruster::~Thruster().

Vector Device::GetLocation (   )  const [inherited]

Returns the physical location of the device with respect to whorl body coordinates. Returns: Physical center of the device [x,y,z]^T (meters). Definition at line 75 of file Device.cpp. References O_SESSAME::Vector.

Vector DMURateGyro::GetLocation (   )  [inline]

Gets sensor location Definition at line 100 of file DMURateGyro.h. References DMU::GetLocation(), m_DMU, and O_SESSAME::Vector.

Measurement DMURateGyro::GetMeasurement (   )  [inline, virtual]

Gets current measurement Implements Sensor. Definition at line 60 of file DMURateGyro.h. References DMU::GetAnalogReading(), DMU::GetDigitalReading(), m_channelID, m_DAQCard, m_DMU, and Measurement::SetTime(). Referenced by DMURateGyro().

int DMURateGyro::GetMode (   )  [inline]

Gets sensor mode (mainly for debugging purposes now) Definition at line 103 of file DMURateGyro.h.

Vector DMURateGyro::GetSensorToBodyQuaternion (   )  [inline, virtual]

Gets sensor to body quaternion Implements AttitudeSensor. Definition at line 97 of file DMURateGyro.h. References DMU::GetSensorToBodyQuaternion(), m_channelID, m_DMU, and O_SESSAME::Vector.

int DMURateGyro::Initialize (   )  [inline, virtual]

function which sets the pointer to the (one and only) instance of the DMU, as well as the (one and only) instance of the DAQCard if the rate gyro is set to analog mode in the config file Reimplemented from Device. Definition at line 47 of file DMURateGyro.h. References DAQCard::Instance(), DMU::Instance(), m_DAQCard, m_DMU, and m_mode. Referenced by DMURateGyro().

bool Device::IsActive (   )  [inherited]

Returns the current state of m_bActiveState. Author: Andrew Turner Date: March 25, 1999 This member function is used to inspect the state of the device External Methods Called: None Assumptions: None Definition at line 59 of file Device.cpp. Referenced by Device::Device().

void Device::SetLocation (  const Vector &  newDeviceLocation  )  [inherited]

Specify the physical location of the device with respect to whorl body coordinates. Parameters: newDeviceLocation  Physical center of the device [x,y,z]^T (meters). Definition at line 67 of file Device.cpp. References Device::m_Location, and O_SESSAME::Vector.

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Member Data Documentation

const bool Device::c_bActive = true [static, inherited]

a constant bool that is equal to true. Used for setting the active state Definition at line 50 of file Device.h. Referenced by Device::Initialize().

const bool Device::c_bNotActive = false [static, inherited]

a constant bool that is equal to false. Used for setting the active state. Definition at line 48 of file Device.h. Referenced by Device::Deinitialize(), and Device::Device().

int DMURateGyro::m_channelID [private]

channel of sensor in DMU Definition at line 110 of file DMURateGyro.h. Referenced by DMURateGyro(), GetMeasurement(), and GetSensorToBodyQuaternion().

DAQCard* DMURateGyro::m_DAQCard [private]

pointer to instance of the DAQ card Definition at line 108 of file DMURateGyro.h. Referenced by GetMeasurement(), and Initialize().

DMU* DMURateGyro::m_DMU [private]

pointer to the instance of the DMU physical device Definition at line 107 of file DMURateGyro.h. Referenced by GetLocation(), GetMeasurement(), GetSensorToBodyQuaternion(), and Initialize().

int DMURateGyro::m_mode [private]

operating mode of sensor, either digital (1) or analog (2) Definition at line 111 of file DMURateGyro.h. Referenced by DMURateGyro(), and Initialize().

float DMURateGyro::m_offset [private]

calibration offset value in units of V Definition at line 112 of file DMURateGyro.h. Referenced by DMURateGyro().

float DMURateGyro::m_rateScaleFactor [private]

rate sensor scale factor in units of V/(deg/s) Definition at line 113 of file DMURateGyro.h. Referenced by DMURateGyro().

char* Device::name [protected, inherited]

Definition at line 56 of file Device.h.

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

• DMURateGyro.h
• DMURateGyro.cpp

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