Changeset 555 in Sophya for trunk/Poubelle/archTOI.old/gyrocalibrator.h

Timestamp:

Nov 9, 1999, 3:04:05 PM (26 years ago)

Author:

ansari

Message:

portage cxx en cours

File:

• trunk/Poubelle/archTOI.old/gyrocalibrator.h (modified) (2 diffs)

trunk/Poubelle/archTOI.old/gyrocalibrator.h

@@ -5 +5 @@
 #define GYROCALIBRATOR_H
 
-#include "toiderivproducer.h"
+#include "toipullproducer.h"
 
 #include <vector>
 
-class GyroCalibrator : public TOIDerivProducer {
+class GyroCalibrator : public TOIPullProducer {
 public:
   GyroCalibrator();
@@ -16 +16 @@
 
   virtual bool   canGetValue(long sampleNum, TOI const& toi); // for this samplenum
+  virtual bool   canGetValueLater(long sampleNum, TOI const& toi);  // Might, later but not now
+  
   virtual double getValue(long sampleNum, TOI const& toi);
-
+  
 protected:
   virtual set<TOI>     reqTOIFor(TOI const&);
   virtual void         propagateLowBound(TOI const&, long sampleNum);
   
-private:
+  virtual void recomputeCalib();
+  virtual bool fetchFences(long sampleNum);
+  
+  
   long startSample;
-  vector<double> gyro2; 
+  vector<double> gyro[3]; 
   long lastFence1, lastFence2;
+  double lastRotSpeed; // on gyro 2
+  double lastCalib[3];
+  double lastOffset[3];
+  TOIProducer* gyroProducer;
 };