Imu_sensor.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





#ifndef __IMU_SENSOR_H_
#define __IMU_SENSOR_H_


#include <assert.h>

#ifndef MIP_WIN
#include <baselib.h>
#include <Resource.h>
#include <stdlib.h>
#else
#include <mipDefinitions.h>
#endif

using namespace std;

namespace MipResources{
 
 /* @{ */
 
 

 class Imu_sensorOptions : public Options {
  public:   
   Imu_sensorOptions();

   string getObjectName() const {
    return "Imu_sensorOptions";
   }
 };


 class Imu_sensorPar{
  private:

  public:
   Imu_sensorPar(){
   };
 };


 class Imu_sensorVar{
  protected:
   Time   _measTime;   
   Position3D  _acceleration;  
   Orientation3D           _attitude;  
   Position3D  _omega;   

                        pthread_mutex_t _varMutex;
  public:
   Imu_sensorVar();


   Time time();

   void setTime(Time newTime);

   Position3D acceleration();

   Orientation3D attitude();

   Position3D omega();

   void setAccelerationVal(Decimal x, Decimal y, Decimal z);

   void setAccelerationVal(Position3D &a);

   void setAttitudeVal(Decimal roll, Decimal pitch, Decimal yaw);

   void setOmegaVal(Decimal x, Decimal y, Decimal z);
 };


 class Imu_sensor : public Resource{
  protected:
   Imu_sensorOptions options;  
   Imu_sensorPar* _par;  
   Imu_sensorVar* _var;  
  public:
   Imu_sensor(){}
   
   ~Imu_sensor();


   Imu_sensor(int argc, const char* argv[]);
   
   Imu_sensor(int device, Decimal fLength);

   virtual Imu_sensorVar* getVar(void){
    return _var;
   }

   virtual Imu_sensorPar* getPar(void){
    return _par;
   }


   virtual bool readAcceleration() = 0;

   virtual bool readAttitude() = 0;

                        // Luca Ricci mod. //
   virtual bool readAllData() = 0;
 };
}; // end of namespace


#endif

/* @} */