ImuHandler.h

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#ifndef IMU_HANDLER_H
#define IMU_HANDLER_H

#include <vrep_ros_plugin/GenericObjectHandler.h>
//#include <telekyb_base/Filter/IIRFilter.hpp>

class ImuHandler : public GenericObjectHandler
{
public:
        ImuHandler();
        ~ImuHandler();

        void synchronize();

        void handleSimulation();

        unsigned int getObjectType() const;

        bool endOfSimulation();

protected:

        void _initialize();

        int _handleOfMass;

    simFloat _mass;

        int _handleOfForceSensor;

        ros::Publisher _pub;
        double _acquisitionFrequency;

        simFloat _lastPublishedImu;

        //telekyb::IIRFilter* _forceFilter[3];
        double _forceFilterCutoff;
};


#endif // ndef IMU_HANDLER_H