TestrigGUI.h

00001 /*
00002  * TestrigGUI.h
00003  *
00004  *  Created on: Feb 18, 2010
00005  *      Author: uscr
00006  */
00007 
00008 #ifndef TESTRIGGUI_H_
00009 #define TESTRIGGUI_H_
00010 
00011 #include <QtGui/QMainWindow>
00012 #include <QtGui/QImage>
00013 #include <opencv/cv.h>
00014 #include <qwt_plot_curve.h>
00015 
00016 #include <fftw3.h>
00017 
00018 #include "ui_testrig.h"
00019 #include "DataThreads.h"
00020 #include "KalmanFilter.h"
00021 
00022 
00023 class TestrigGUI : public QMainWindow {
00024 
00025         Q_OBJECT
00026 
00027 public:
00028         TestrigGUI();
00029         virtual ~TestrigGUI();
00030         void emitReadyToUpdateGUI();
00031         double getStandardDeviation(double * vals);
00032         double getMean(double * vals);
00033 
00034 signals:
00035         void readyToUpdateGUI();
00036 
00037 public slots:
00038         void updateGUIDisplay();
00039         void updateControls();
00040         void updatePitchFilter();
00041         void updateRollFilter();
00042 
00043 private:
00044         Ui::testrig ui;
00045         QImage curQImage;
00046         char * inputImageDataPtr; //READ ONLY and unstable
00047         IplImage * curIplImage;
00048         int frameCounter;
00049         struct CollectedData myGuiData, myGuiPlotData;
00050         struct KalmanFilterData guiRollFilter, guiPitchFilter;
00051         QwtPlotCurve * rollGyroCurve, * pitchGyroCurve, * rollAccelCurve, * pitchAccelCurve, * rollFilterCurve, * pitchFilterCurve;
00052         QwtPlotCurve * fftCurve;
00053         fftw_complex    *fft_in, *fft_out;
00054         fftw_plan       plan_forward;
00055 
00056         double incrementalTime[NUM_POINTS];
00057 
00058 };
00059 
00060 #endif /* TESTRIGGUI_H_ */