24 lines
681 B
C++
24 lines
681 B
C++
#pragma once
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#include "BNO08xRptRVGeneric.hpp"
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/**
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* @brief Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)
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*/
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class BNO08xRptIGyroRV : public BNO08xRptRVGeneric
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{
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public:
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BNO08xRptIGyroRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
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: BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
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{
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}
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void get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel);
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bno08x_ang_vel_t get_vel();
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private:
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void update_data(sh2_SensorValue_t* sensor_val) override;
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bno08x_ang_vel_t data_vel;
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static const constexpr char* TAG = "BNO08xRptIGyroRV";
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};
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