ImuSensor.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_SENSORS_IMUSENSOR_HH_
#define IGNITION_SENSORS_IMUSENSOR_HH_

#include <memory>

#include <sdf/sdf.hh>

#include <ignition/common/Time.hh>
#include <ignition/math/Pose3.hh>

#include <ignition/sensors/config.hh>
#include <ignition/sensors/imu/Export.hh>

#include "ignition/sensors/Sensor.hh"

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    //
    class ImuSensorPrivate;

    class IGNITION_SENSORS_IMU_VISIBLE ImuSensor : public Sensor
    {
      public: ImuSensor();

      public: virtual ~ImuSensor();

      public: virtual bool Load(const sdf::Sensor &_sdf) override;

      public: virtual bool Load(sdf::ElementPtr _sdf) override;

      public: virtual bool Init() override;

      public: virtual bool Update(const common::Time &_now) override;

      public: void SetAngularVelocity(const math::Vector3d &_angularVel);

      public: math::Vector3d AngularVelocity() const;

      public: void SetLinearAcceleration(const math::Vector3d &_linearAcc);

      public: math::Vector3d LinearAcceleration() const;

      public: void SetWorldPose(const math::Pose3d _pose);

      public: math::Pose3d WorldPose() const;

      public: void SetOrientationReference(
          const math::Quaterniond &_orient);

      public: math::Quaterniond OrientationReference() const;

      public: math::Quaterniond Orientation() const;

      public: void SetGravity(const math::Vector3d &_gravity);

      public: math::Vector3d Gravity() const;

      private: std::unique_ptr<ImuSensorPrivate> dataPtr;
    };
    }
  }
}

#endif