xsoutputmode.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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