C++ (Cpp) gtk_variometer_set_value示例

示例#1

文件： ground_station.cpp 项目： muhrix/mav_ground_station

// asctec_mav_framework-related callback function implementations
void fcuImuCustomCallback(const asctec_hl_comm::mav_imuConstPtr& imu) {
	// Details of units used with this message can found in the source of the implementation at:
	// http://ros.org/rosdoclite/groovy/api/asctec_hl_comm/html/HL__interface_8h.html
	// http://ros.org/rosdoclite/groovy/api/asctec_hl_comm/html/HL__interface_8h_source.html
	// http://ros.org/rosdoclite/groovy/api/asctec_hl_interface/html/hl__interface_8cpp_source.html

	// **** get GTK thread lock
	gdk_threads_enter();
	//fcuImuCustomData_ = (*imu);
	double roll, pitch, yaw;
	tf::Quaternion orientation;
	orientation.setX(imu->orientation.x);
	orientation.setY(imu->orientation.y);
	orientation.setZ(imu->orientation.z);
	orientation.setW(imu->orientation.w);
	tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);

	ROS_DEBUG_STREAM("Yaw: " << RAD2DEG(yaw) << "\tPitch: " << RAD2DEG(pitch) << "\tRoll: "
			<< RAD2DEG(roll) << "\tRollBis: " << (double)(((int)(RAD2DEG(roll)*1000)+360000)%360000)/1000);

	if (IS_GTK_ARTIFICIAL_HORIZON (data->arh)) {
		gtk_artificial_horizon_set_value(GTK_ARTIFICIAL_HORIZON (data->arh),
				(double) (((int) (RAD2DEG(roll) * 1000) + 360000) % 360000) / 1000, (double) -RAD2DEG(pitch));
	}

	// yaw from 0...360 [deg*100]
	if (IS_GTK_COMPASS (data->comp2)) {
		gtk_compass_set_angle(GTK_COMPASS (data->comp2),
				(double) (((int) (RAD2DEG(yaw) * 1000) + 360000) % 360000) / 1000);
	}

	// height [mm]
	if (IS_GTK_ALTIMETER (data->alt)) {
		ROS_DEBUG_STREAM("Current altitude: " << imu->height << " metres");
		gtk_altimeter_set_alti(GTK_ALTIMETER (data->alt), imu->height); // * 0.001);
	}

	// differential_height [mm/s]
	if (IS_GTK_VARIOMETER (data->vario)) {
		ROS_DEBUG_STREAM("Altitude variation: " << imu->differential_height << " metres/sec");
		gtk_variometer_set_value(GTK_VARIOMETER (data->vario), imu->differential_height); // * 0.001);
	}

	// **** release GTK thread lock
	gdk_threads_leave();
}

示例#2

文件： ground_station.cpp 项目： pbouffard/ccny-ros-pkg-pbouffard

void imuCalcDataCallback (const asctec_msgs::IMUCalcDataConstPtr & dat)
{
    // **** get GTK thread lock
    gdk_threads_enter ();

    imuCalcData_ = (*dat);

    ROS_DEBUG("imuCalcData yaw %f, pitch %f, roll %f\n",(double)imuCalcData_.angle_yaw /1000.,(double)imuCalcData_.angle_nick/1000.,(double)imuCalcData_.angle_roll/1000.);

    if (IS_GTK_VARIOMETER (data->vario))
        gtk_variometer_set_value (GTK_VARIOMETER (data->vario), (double) (imuCalcData_.dheight /1000.)*3600);

    if (IS_GTK_COMPASS (data->comp))
        gtk_compass_set_angle (GTK_COMPASS (data->comp), (double) (imuCalcData_.mag_heading / 1000.));

    // **** release GTK thread lock
    gdk_threads_leave ();
}