/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8: *  $Id: IMU.h,v 2.2 2003/03/08 05:19:16 tramm Exp $ * * (c) Trammell Hudson * (c) Aaron Kahn * * Simplistic IMU object that reads lines from the Rev 2.2 board * and proccesses them into sensor data. * ************** * *  This file is part of the autopilot simulation package. * *  Autopilot is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 of the License, or *  (at your option) any later version. * *  Autopilot is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the *  GNU General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with Autopilot; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * */#ifndef _imu_h_#define _imu_h_#include <mat/Vector.h>namespace imufilter{using namespace libmat;class IMU{public:	IMU();	void	update(		const char *	line	);	void	update(		const Vector<3> &	accel,		const Vector<3> &	pqr	);	Vector<3>		accel;	Vector<3>		pqr;private:	const int		ax_index;	const int		ay_index;	const int		az_index;	const int		p_index;	const int		q_index;	const int		r_index;	const Vector<3>		accel_zero;	const Vector<3>		accel_scale;	const Vector<3>		gyro_zero;	const Vector<3>		gyro_scale;};}#endif