AccelerationSensor3DOF.h

Go to the documentation of this file.

/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_ACCELERATION_SENSOR_3DOF_H
#define META_OCEAN_DEVICES_ACCELERATION_SENSOR_3DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/DeviceRef.h"
#include "ocean/devices/Sensor.h"
 
#include "ocean/base/SmartObjectRef.h"
#include "ocean/base/StackHeapVector.h"
 
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class AccelerationSensor3DOF;
 
/**
 * Definition of a smart object reference for a 3DOF acceleration sensor.
 * @see AccelerationSensor3DOF.
 * @ingroup devices
 */
using AccelerationSensor3DOFRef = SmartDeviceRef<AccelerationSensor3DOF>;
 
/**
 * This class is the base class for all 3DOF acceleration sensors.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT AccelerationSensor3DOF : virtual public Sensor
{
    public:
 
        /**
         * Definition of a sample holding acceleration sensor 3DOF measurements.
         * Each acceleration measurement value is defined in [m / s^2]
         */
        class OCEAN_DEVICES_EXPORT Acceleration3DOFSample : virtual public Measurement::Sample
        {
            public:
 
                /**
                 * Definition of a vector holding acceleration measurements.
                 * One measurement holds three different acceleration values for three separated axis.
                 */
                using Measurements = StackHeapVector<Vector3, 1>;
 
            public:
 
                /**
                 * Creates a new acceleration sensor 3DOF sample.
                 * @param timestamp Sample timestamp
                 * @param objectIds Measurement unit object ids each id corresponds to a different acceleration measurement
                 * @param measurements Sample measurements
                 * @param metadata Optional metadata of the new sample
                 */
                Acceleration3DOFSample(const Timestamp& timestamp, const ObjectIds& objectIds, const Measurements& measurements, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new acceleration sensor 3DOF sample.
                 * @param timestamp Sample timestamp
                 * @param objectIds Measurement unit object ids each id corresponds to a different acceleration measurement
                 * @param measurements Sample measurements
                 * @param metadata Optional metadata of the new sample
                 */
                Acceleration3DOFSample(const Timestamp& timestamp, ObjectIds&& objectIds, Measurements&& measurements, Metadata&& metadata = Metadata());
 
                /**
                 * Returns all measurement values, each acceleration value in [m / s^2]
                 * @return Measurement values
                 */
                inline const Measurements& measurements() const;
 
            protected:
 
                /// Measurement values.
                Measurements measurements_;
        };
 
        /**
         * Definition of a smart object reference for 3DOF acceleration sensor samples.
         */
        using Acceleration3DOFSampleRef = SmartObjectRef<Acceleration3DOFSample, Sample>;
 
    public:
 
        /**
         * Returns this device type.
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_ACCELERATION_3DOF or SENSOR_LINEAR_ACCELERATION_3DOF
         * @return Device type
         */
        static inline DeviceType deviceTypeAccelerationSensor3DOF(const SensorType sensorType);
 
    protected:
 
        /**
         * Creates a new 3DOF acceleration sensor device.
         * @param name The name of the acceleration sensor, must be valid
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_ACCELERATION_3DOF or SENSOR_LINEAR_ACCELERATION_3DOF
         */
        AccelerationSensor3DOF(const std::string& name, const SensorType sensorType);
 
        /**
         * Destructs a 3DOF acceleration sensor device.
         */
        ~AccelerationSensor3DOF() override;
};
 
inline AccelerationSensor3DOF::DeviceType AccelerationSensor3DOF::deviceTypeAccelerationSensor3DOF(const SensorType sensorType)
{
    ocean_assert(sensorType == SENSOR_ACCELERATION_3DOF || sensorType == SENSOR_LINEAR_ACCELERATION_3DOF);
 
    return AccelerationSensor3DOF::DeviceType(DEVICE_SENSOR, sensorType);
}
 
inline const AccelerationSensor3DOF::Acceleration3DOFSample::Measurements& AccelerationSensor3DOF::Acceleration3DOFSample::measurements() const
{
    return measurements_;
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ACCELERATION_SENSOR_3DOF_H