SimuImu.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 SIMUIMU_H
#define SIMUIMU_H

#include <IODevice.h>

namespace flair {
  namespace core {
    class SharedMem;
  }
}

namespace flair {
namespace sensor {
class SimuImu : public core::IODevice {
public:
  SimuImu(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);

  ~SimuImu();

private:
  void UpdateFrom(const core::io_data *data);

  typedef struct {
    float q0;
    float q1;
    float q2;
    float q3;
    float wx;
    float wy;
    float wz;
    float ax;
    float ay;
    float az;
    float mx;
    float my;
    float mz;
  } imu_states_t;
  
  std::string ShMemName(uint32_t modelId,uint32_t deviceId);

  core::SharedMem *shmem;
};
} // end namespace sensor
} // end namespace flair
#endif // SIMUIMU_H