31 lines
724 B
C++
31 lines
724 B
C++
/**
|
|
* @file BNO08xRptIGyroRV.hpp
|
|
* @author Myles Parfeniuk
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "BNO08xRptRVGeneric.hpp"
|
|
|
|
/**
|
|
* @class BNO08xRptIGyroRV
|
|
*
|
|
* @brief Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)
|
|
*/
|
|
class BNO08xRptIGyroRV : public BNO08xRptRVGeneric
|
|
{
|
|
public:
|
|
BNO08xRptIGyroRV(BNO08xPrivateTypes::bno08x_report_info_t info)
|
|
: BNO08xRptRVGeneric(info)
|
|
{
|
|
}
|
|
|
|
void get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel);
|
|
bno08x_ang_vel_t get_vel();
|
|
|
|
private:
|
|
void update_data(sh2_SensorValue_t* sensor_val) override;
|
|
bno08x_ang_vel_t data_vel;
|
|
static const constexpr char* TAG = "BNO08xRptIGyroRV";
|
|
};
|