xsoutputmode.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef XSOUTPUTMODE_H
#define XSOUTPUTMODE_H

/*!     \addtogroup enums Global enumerations
        @{
*/
//! Bit values for legacy output mode
enum XsOutputMode {
        XOM_None                        = 0x0000,
        XOM_Temperature         = 0x0001,
        XOM_Calibrated          = 0x0002,
        XOM_Orientation         = 0x0004,
        XOM_Auxiliary           = 0x0008,
        XOM_Position            = 0x0010,
        XOM_Velocity            = 0x0020,
        XOM_Sdi                         = 0x0200,
        XOM_Status                      = 0x0800,
        XOM_GpsPvt_Pressure     = 0x1000,
        XOM_Reserved            = 0x2000,
        XOM_Raw                         = 0x4000,
        XOM_Mt9                         = 0x8000
};
/*! @} */
typedef enum XsOutputMode XsOutputMode;

// Extended (analog) Output Modes
#define XS_EXTOUTPUTMODE_DISABLED                       0x0000
#define XS_EXTOUTPUTMODE_EULER                          0x0001

#define XS_DEFAULT_OUTPUT_MODE                  XOM_Orientation

#ifdef __cplusplus
/*! \brief Allow logical or of XsOutputMode to be a valid XsOutputMode value */
inline XsOutputMode operator | (XsOutputMode a, XsOutputMode b)
{
        return (XsOutputMode) ((unsigned short) a | (unsigned short) b);
}

/*! \brief Allow logical and of XsOutputMode to be a valid XsOutputMode value */
inline XsOutputMode operator & (XsOutputMode a, XsOutputMode b)
{
        return (XsOutputMode) ((unsigned short) a & (unsigned short) b);
}

/*! \brief Allow logical inversion of XsOutputMode to be a valid XsOutputMode value */
inline XsOutputMode operator ~ (XsOutputMode a)
{
        return (XsOutputMode) ~((unsigned short)a);
}
#endif

#endif // XSOUTPUTMODE_H