63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Teensy
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMUMAGCAL_H
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#define _RTIMUMAGCAL_H
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#include "RTIMUCalDefs.h"
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#include "RTIMULib.h"
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class RTIMUMagCal
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{
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public:
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RTIMUMagCal(RTIMUSettings *settings);
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virtual ~RTIMUMagCal();
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void magCalInit(); // inits everything
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void magCalReset(); // clears everything
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// newMinMaxData() is used to submit a new sample for min/max processing
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void newMinMaxData(const RTVector3& data);
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// magCalValid() determines if the min/max data is basically valid
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bool magCalValid();
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// magCalSaveMinMax() saves the current min/max values to settings
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void magCalSaveMinMax();
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// these vars used during the calibration process
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RTVector3 m_magMin; // the min values
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RTVector3 m_magMax; // the max values
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RTIMUSettings *m_settings;
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private:
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RTVector3 m_minMaxOffset; // the min/max calibration offset
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RTVector3 m_minMaxScale; // the min/max scale
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};
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#endif // _RTIMUMAGCAL_H
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