GyroSensor3DOF.h

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/*
 * 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_GYRO_SENSOR_3DOF_H
#define META_OCEAN_DEVICES_GYRO_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 GyroSensor3DOF;
 
/**
 * Definition of a smart object reference for a 3DOF gyro sensor.
 * @see GyroSensor3DOF.
 * @ingroup devices
 */
using GyroSensor3DOFRef = SmartDeviceRef<GyroSensor3DOF>;
 
/**
 * This class is the base class for all 3DOF gyro sensors.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT GyroSensor3DOF : virtual public Sensor
{
    public:
 
        /**
         * Definition of a sample holding gyro sensor 3DOF measurements.
         * Each gyro measurement value is defined in [rad / s]
         */
        class OCEAN_DEVICES_EXPORT Gyro3DOFSample : virtual public Measurement::Sample
        {
            public:
 
                /**
                 * Definition of a vector holding gyro measurements.
                 * One measurement holds three different gyro values for three separated axis.
                 */
                using Measurements = StackHeapVector<Vector3, 1>;
 
            public:
 
                /**
                 * Creates a new gyro sensor 3DOF sample.
                 * @param timestamp Sample timestamp
                 * @param objectIds Measurement unit object ids each id corresponds to a different gyro measurement
                 * @param measurements Sample measurements
                 */
                Gyro3DOFSample(const Timestamp& timestamp, const ObjectIds& objectIds, const Measurements& measurements);
 
                /**
                 * Creates a new gyro sensor 3DOF sample.
                 * @param timestamp Sample timestamp
                 * @param objectIds Measurement unit object ids each id corresponds to a different gyro measurement
                 * @param measurements Sample measurements
                 */
                Gyro3DOFSample(const Timestamp& timestamp, ObjectIds&& objectIds, Measurements&& measurements);
 
                /**
                 * Returns all measurement values, each value in [rad / s]
                 * @return Measurement values
                 */
                inline const Measurements& measurements() const;
 
            protected:
 
                /// Measurement values.
                Measurements measurements_;
        };
 
        /**
         * Definition of a smart object reference for 3DOF gyro sensor samples.
         */
        using Gyro3DOFSampleRef = SmartObjectRef<Gyro3DOFSample, Sample>;
 
    public:
 
        /**
         * Returns this device type.
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_GYRO_RAW_3DOF or SENSOR_GYRO_UNBIASED_3DOF
         * @return Device type
         */
        static inline DeviceType deviceTypeGyroSensor3DOF(const SensorType sensorType);
 
    protected:
 
        /**
         * Creates a new 3DOF gyro sensor device.
         * @param name The name of the gyro sensor
         * @param sensorType The type of the sensor (the subtype of the device), can be SENSOR_GYRO_RAW_3DOF or SENSOR_GYRO_UNBIASED_3DOF
         */
        GyroSensor3DOF(const std::string& name, const SensorType sensorType);
 
        /**
         * Destructs a 3DOF gyro sensor device.
         */
        ~GyroSensor3DOF() override;
};
 
inline GyroSensor3DOF::DeviceType GyroSensor3DOF::deviceTypeGyroSensor3DOF(const SensorType sensorType)
{
    ocean_assert(sensorType == SENSOR_GYRO_RAW_3DOF || sensorType == SENSOR_GYRO_UNBIASED_3DOF);
 
    return GyroSensor3DOF::DeviceType(DEVICE_SENSOR, sensorType);
}
 
inline const GyroSensor3DOF::Gyro3DOFSample::Measurements& GyroSensor3DOF::Gyro3DOFSample::measurements() const
{
    return measurements_;
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_GYRO_SENSOR_3DOF_H