59 lines
2.1 KiB
C++
59 lines
2.1 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib
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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 _RTIMUNULL_H
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#define _RTIMUNULL_H
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// IMUNull is a dummy IMU that assumes sensor data is coming from elsewhere,
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// for example, across a network.
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//
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// Call IMUInit in the normal way. Then for every update, call setIMUData and then IMURead
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// to kick the kalman filter.
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#include "RTIMU.h"
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class RTIMUSettings;
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class RTIMUNull : public RTIMU
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{
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public:
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RTIMUNull(RTIMUSettings *settings);
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~RTIMUNull();
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// The timestamp parameter is assumed to be from RTMath::currentUSecsSinceEpoch()
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void setIMUData(const RTIMU_DATA& data);
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virtual const char *IMUName() { return "Null IMU"; }
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virtual int IMUType() { return RTIMU_TYPE_NULL; }
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virtual bool IMUInit();
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virtual int IMUGetPollInterval();
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virtual bool IMURead();
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virtual bool IMUGyroBiasValid() { return true; }
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private:
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uint64_t m_timestamp;
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};
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#endif // _RTIMUNULL_H
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