mtwsdidata.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 MTWSDIDATA_H
#define MTWSDIDATA_H

#include <xsens/pstdint.h>
#include <xsens/xsvector3.h>
#include <xsens/xsquaternion.h>
#include <xsens/xsdeviceid.h>

struct XsRange;

struct MtwSdiData
{
        XsDeviceId              m_deviceId;                     //!< The ID of the device that generated the data
        uint8_t                 m_timeSync;                     //!< Indicates if the time sync is in order (unused)
        uint16_t                m_firstFrameNumber;     //!< The first frame number of the SDI interval. The time of the interval is [first, last)
        uint16_t                m_lastFrameNumber;      //!< The last frame number of the SDI interval. The time of the interval is [first, last)
        XsVector3               m_currentBias;          //!< The gyroscope bias used during the SDI interval
        XsQuaternion    m_orientationIncrement; //!< The orientation increment (delta Q) over the interval
        XsVector3               m_velocityIncrement;    //!< The velocity increment (delta V) over the interval
        bool                    m_aidingData;           //!< reserved
        double                  m_barometer;            //!< The barometer value during the interval
        XsVector3               m_magnetoMeter;         //!< The magnetometer values during the interval
        int8_t                  m_rssi;                         //!< The Received Signal Strength Indication (RSSI) of the message

        MtwSdiData();
        MtwSdiData(const MtwSdiData& other);
        ~MtwSdiData();
        const MtwSdiData& operator=(const MtwSdiData& other);

        bool empty() const;
        bool containsAidingData() const;
        XsQuaternion orientationIncrement() const;
        XsVector velocityIncrement() const;
        double pressure() const;
        XsVector magneticField() const;
        XsVector currentBias() const;
        XsRange frameRange() const;
        double rssi() const;
};

#endif // file guard