source: Sophya/trunk/Poubelle/archTOI.old/gyrocalibrator.h@ 1019

Last change on this file since 1019 was 555, checked in by ansari, 26 years ago

portage cxx en cours
File size: 1.0 KB
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1// gyrocalibrator.h
2// Eric Aubourg CEA/DAPNIA/SPP octobre 1999
3
4#ifndef GYROCALIBRATOR_H
5#define GYROCALIBRATOR_H
6
7#include "toipullproducer.h"
8
9#include <vector>
10
11class GyroCalibrator : public TOIPullProducer {
12public:
13 GyroCalibrator();
14 virtual void dataFeed(TOIProducer* source, TOI const& toi, long sampleNum, double value);
15 virtual string getName();
16
17 virtual bool canGetValue(long sampleNum, TOI const& toi); // for this samplenum
18 virtual bool canGetValueLater(long sampleNum, TOI const& toi); // Might, later but not now
19
20 virtual double getValue(long sampleNum, TOI const& toi);
21
22protected:
23 virtual set<TOI> reqTOIFor(TOI const&);
24 virtual void propagateLowBound(TOI const&, long sampleNum);
25
26 virtual void recomputeCalib();
27 virtual bool fetchFences(long sampleNum);
28
29
30 long startSample;
31 vector<double> gyro[3];
32 long lastFence1, lastFence2;
33 double lastRotSpeed; // on gyro 2
34 double lastCalib[3];
35 double lastOffset[3];
36 TOIProducer* gyroProducer;
37};
38
39
40
41#endif
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