xsscrdata.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 XSSCRDATA_H
#define XSSCRDATA_H
 
#include "pstdint.h"
#include "xsushortvector.h"
 
#ifndef __cplusplus
#define XSSCRDATA_INITIALIZER                                   \
        {                                                           \
                XSUSHORTVECTOR_INITIALIZER, XSUSHORTVECTOR_INITIALIZER, \
                        XSUSHORTVECTOR_INITIALIZER,                         \
                {                                                       \
                        0, 0, 0, 0                                          \
                }                                                       \
        }
#endif
 
#define XS_EXTRA_TEMPERATURE_CHANNELS 3
#define XS_MAX_TEMPERATURE_CHANNELS ((XS_EXTRA_TEMPERATURE_CHANNELS) + 1)
 
/*! \brief Container for raw sensor measurement data
        \details This structure contains raw measurement data from the sensors on
   the device.
        This data is unscaled, the bias has not been subtracted and no error
   correction has been applied.
*/
struct XsScrData
{
        /** The raw accelerometer data */
        XsUShortVector m_acc;
        /** The raw gyroscope data */
        XsUShortVector m_gyr;
        /** The raw magnetometer data */
        XsUShortVector m_mag;
        /** The temperature data */
        uint16_t m_temp[XS_MAX_TEMPERATURE_CHANNELS];
};
typedef struct XsScrData XsScrData;
 
#endif  // file guard