imu_sensor_interface.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#pragma once
 
 
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <string>
 
namespace hardware_interface
{
 
class ImuSensorHandle
{
public:
  struct Data
  {
    // Note: User-provided constructor required due to a defect in the standard. See https://stackoverflow.com/a/17436088/1932358
    Data() {}
 
    std::string name;                                   
    std::string frame_id;                               
    double* orientation                    = {nullptr}; 
    double* orientation_covariance         = {nullptr}; 
    double* angular_velocity               = {nullptr}; 
    double* angular_velocity_covariance    = {nullptr}; 
    double* linear_acceleration            = {nullptr}; 
    double* linear_acceleration_covariance = {nullptr}; 
  };
 
  ImuSensorHandle(const Data& data = {})
    : name_(data.name),
      frame_id_(data.frame_id),
      orientation_(data.orientation),
      orientation_covariance_(data.orientation_covariance),
      angular_velocity_(data.angular_velocity),
      angular_velocity_covariance_(data.angular_velocity_covariance),
      linear_acceleration_(data.linear_acceleration),
      linear_acceleration_covariance_(data.linear_acceleration_covariance)
  {}
 
  ImuSensorHandle(
        const std::string& name,                      
        const std::string& frame_id,                  
        const double* orientation,                    
        const double* orientation_covariance,         
        const double* angular_velocity,               
        const double* angular_velocity_covariance,    
        const double* linear_acceleration,            
        const double* linear_acceleration_covariance  
    )
    : name_(name),
      frame_id_(frame_id),
      orientation_(orientation),
      orientation_covariance_(orientation_covariance),
      angular_velocity_(angular_velocity),
      angular_velocity_covariance_(angular_velocity_covariance),
      linear_acceleration_(linear_acceleration),
      linear_acceleration_covariance_(linear_acceleration_covariance)
  {}
 
  std::string getName()                           const {return name_;}
  std::string getFrameId()                        const {return frame_id_;}
  const double* getOrientation()                  const {return orientation_;}
  const double* getOrientationCovariance()        const {return orientation_covariance_;}
  const double* getAngularVelocity()              const {return angular_velocity_;}
  const double* getAngularVelocityCovariance()    const {return angular_velocity_covariance_;}
  const double* getLinearAcceleration()           const {return linear_acceleration_;}
  const double* getLinearAccelerationCovariance() const {return linear_acceleration_covariance_;}
 
private:
  std::string name_;
  std::string frame_id_;
 
  const double* orientation_;
  const double* orientation_covariance_;
  const double* angular_velocity_;
  const double* angular_velocity_covariance_;
  const double* linear_acceleration_;
  const double* linear_acceleration_covariance_;
};
 
class ImuSensorInterface : public HardwareResourceManager<ImuSensorHandle> {};
 
}