triadObserver.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file triadObserver.h
*  \brief Header file for triad observer
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.5 $
*  \date    $Date: 2007/07/24 08:45:27 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*!
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_TRIAD_OBSERVER_H__
#define __SSSL_TRIAD_OBSERVER_H__


#include <string>
#include <iostream>
#include <cmath>
#include <sstream>
#include <ctime>
#include "Sensors/DMUAccelerometer.h"
#include "Sensors/DMURateGyro.h"
#include "rotation/Rotation.h"
#include "matrix/Matrix.h"
#include "Sensors/Magnetometer.h"
#include "Base/Whorl.h"
#include "Observer.h"
#include "dsacssinterface.h"

extern "C"{
#include "Hardware/satctl.h"
#include "Hardware/common.h"
}

using namespace std;

class triadObserver : public Observer
{
public:
        //////////////////////////////////
        // Constructors/Deconstructors
        //////////////////////////////////

        triadObserver( );

        triadObserver( TiXmlHandle handle, Whorl* ptr_whorl );
        
        virtual ~triadObserver( );

        int Initialize( );
        
        int Run( );
        
        void Parse( TiXmlHandle handle );
        
        Matrix GetAttitude( );          
        
        void SetMagnetometerBodyVector( Vector _magnetometer );
        void SetMagnetometerInertialVector( Vector _magnetometer );
        void SetAccelerometerBodyVector( Vector _accelerometer );
        void SetAccelerometerInertialVector( Vector _accelerometer );

private:
        Vector m_magBody;
        
        Vector m_2magBodyPrevious;
        
        Vector m_accelBody;
        Vector m_ratesBody; // body-fixed measurements
        
        
        Whorl* m_whorl; // pointer to a whorl object

        // inertial vectors     
        Vector m_magInertial;
        Vector m_accelInertial; // inertial measurements        
        
        Vector m_AngularAccel;
        
        Vector m_rsensor;
};

#endif

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: triadObserver.h,v $
*       Revision 1.5  2007/07/24 08:45:27  jayhawk_hokie
*       Replaced matrix pointers.
*
*       Revision 1.4  2007/05/29 19:02:15  jayhawk_hokie
*       *** empty log message ***
*
*       Revision 1.3  2007/03/27 19:15:44  jayhawk_hokie
*       Updated Class.
*
*       Revision 1.2  2007/03/21 20:12:28  jayhawk_hokie
*       Update of the Triad Observer Class
*
*       Revision 1.1  2007/01/12 22:11:57  bwilliam
*       Initial submission.
*
******************************************************************************/

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