ImuData.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 IMUDATA_H
#define IMUDATA_H

#include <io_data.h>
#include <IODataElement.h>
#include <Vector3D.h>

namespace flair {
namespace core {

class ImuData : public io_data {
public:
  class Type : public DataType {
  public:
    Type(ScalarType const &_elementDataType)
        : elementDataType(_elementDataType) {}
    ScalarType const &GetElementDataType() const { return elementDataType; }
    std::string GetDescription() const { return "imu data"; }
    size_t GetSize() const {
      size_t size = 0;
      size += 3 * elementDataType.GetSize(); // RawAcc
      size += 3 * elementDataType.GetSize(); // RawGyr
      size += 3 * elementDataType.GetSize(); // RawMag
      return size;
    }

  private:
    ScalarType const &elementDataType;
  };

  typedef enum {
    RawAx ,
    RawAy ,
    RawAz ,
    RawGx ,
    RawGy ,
    RawGz ,
    RawGxDeg ,
    RawGyDeg ,
    RawGzDeg ,
    RawMx ,
    RawMy ,
    RawMz 
  } PlotableData_t;

  ImuData(const Object *parent, std::string name = "", int n = 1);

  ~ImuData();

  IODataElement *Element(PlotableData_t data_type) const;

  Vector3Df GetRawAcc(void) const;

  Vector3Df GetRawMag(void) const;

  Vector3Df GetRawGyr(void) const;

  void GetRawAccMagAndGyr(Vector3Df &rawAcc, Vector3Df &rawMag,
                          Vector3Df &rawGyr) const;

  void SetRawAcc(const Vector3Df &rawAcc);

  void SetRawMag(const Vector3Df &rawMag);

  void SetRawGyr(const Vector3Df &rawGyr);

  void SetRawAccMagAndGyr(const Vector3Df &rawAcc, const Vector3Df &rawMag,
                          const Vector3Df &rawGyr);

  Type const &GetDataType() const { return dataType; }

private:
  void RawRead(char *dst) const;

  Vector3Df rawAcc;

  Vector3Df rawGyr;

  Vector3Df rawMag;

  void Queue(char **dst, const void *src, size_t size) const;
  Type dataType;
};

} // end namespace core
} // end namespace flair

#endif // IMUDATA_H