Imu.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef IMU_H
#define IMU_H

#include <IODevice.h>
#include <Vector3D.h>

namespace flair {
  namespace core {
    class ImuData;
    class OneAxisRotation;
  }
  namespace gui {
    class Tab;
    class TabWidget;
    class GroupBox;
    class Layout;
    class DataPlot1D;
  }
}

class Ahrs_impl;

namespace flair {
namespace sensor {
class Imu : public core::IODevice {
  friend class ::Ahrs_impl;

public:
  Imu(std::string name,bool needRotation=true);

  Imu(const core::IODevice *parent, std::string name);

  ~Imu();
  
  const core::ImuData *GetDatas(void) const;


  gui::Layout *GetLayout(void) const;

  void LockUserInterface(void) const;

  void UnlockUserInterface(void) const;

  void UseDefaultPlot(void);

  gui::Tab *GetPlotTab(void) const;

  core::OneAxisRotation *GetOneAxisRotation(void) const;


protected:
  gui::GroupBox *GetGroupBox(void) const;

  void ApplyRotation(core::Vector3Df& vector);
  
  void ApplyRotation(core::Quaternion& quaternion);

  void GetDatas(core::ImuData **imuData) const;

private:
  gui::Tab *mainTab, *sensorTab, *plotTab;
  gui::TabWidget *tab;
  gui::GroupBox *setupGroupbox;
  core::OneAxisRotation *rotation;
  core::ImuData *imuData;

  gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
};
} // end namespace sensor
} // end namespace flair

#endif // IMU_H