Imu3D.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  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: franchi@diag.uniroma1.it stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------







#ifndef __IMU_SENSOR3D_H_
#define __IMU_SENSOR3D_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdlib.h>
#include <string>
#include <sstream>
#include <vector>
#include <assert.h>
#include <pthread.h>

#include <baselib.h>
#include <Resource.h>

using namespace MipBaselib;

namespace MipResources{

/* @{ */


class ImuPar
{
 private:
  string  _name;  

  Acceleration3D  _acc;  
  Acceleration3D _gyro;  
  Orientation3D  _magn;  

 protected:
  void setIMUName(string value)
  {
   _name = value;
   return;
  }

  void setIMUAcceleration(Acceleration3D a)
  {
   _acc = a;
   return;
  }

  void setIMUAngRate(Acceleration3D g)
  {
   _gyro = g;
   return;
  }

  void setIMUOri(Orientation3D m)
  {
   _magn = m;
   return;
  }


 public:

   ~ImuPar(){};

  ImuPar ()
  {
   _acc = Acceleration3D(0.0, 0.0, 0.0);
   _gyro = Acceleration3D(0.0, 0.0, 0.0);
   _magn = Orientation3D(0.0, 0.0, 0.0);
  }
  
  ImuPar(const ImuPar& s)
  {
   _acc = s._acc;
   _gyro  = s._gyro;
   _magn = s._magn;
  }


  ImuPar& operator=(const ImuPar& s)
  {
   if (this != &s)
   {
    _acc = s._acc;
    _gyro  = s._gyro;
    _magn = s._magn;
   }
   return *this;
  }

  
};

class ImuVar {};

class Imu : public Resource
{
 private:
  bool _IMUavail; 
 
 protected:
  ImuPar *_par; 
 public:
  
  virtual ResourcePlate getPlate() const =0;

  Imu()
  {
   cout << "Imu constructor starting." << endl;
   _par = new ImuPar();
   _IMUavail = true;
   cout << "Imu constructor end." << endl;
  };
  

  ~Imu(){};

  virtual  bool getIMUMeasure(Acceleration3D &acc, Acceleration3D &gyro, Orientation3D &magn, Decimal *MeasTime)=0; 
};

 /* @} */
 
};// end namespace MipResources{


#endif