ImuDataMessage.h
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00001 
00039 #ifndef LibMultiSense_ImuDataMessage
00040 #define LibMultiSense_ImuDataMessage
00041 
00042 #include "details/utility/Portability.hh"
00043 
00044 namespace crl {
00045 namespace multisense {
00046 namespace details {
00047 namespace wire {
00048 
00049 class WIRE_HEADER_ATTRIBS_ ImuSample {
00050 public:
00051     static CRL_CONSTEXPR VersionType VERSION    = 1;
00052     static CRL_CONSTEXPR uint16_t    TYPE_ACCEL = 1;
00053     static CRL_CONSTEXPR uint16_t    TYPE_GYRO  = 2;
00054     static CRL_CONSTEXPR uint16_t    TYPE_MAG   = 3;
00055 
00056     uint16_t type;
00057     int64_t  timeNanoSeconds;
00058     float    x, y, z;
00059 
00060 #ifndef SENSORPOD_FIRMWARE
00061     template<class Archive>
00062         void serialize(Archive&          message,
00063                        const VersionType version)
00064     {
00065         message & type;
00066         message & timeNanoSeconds;
00067         message & x;
00068         message & y;
00069         message & z;
00070     }
00071 #endif // !SENSORPOD_FIRMWARE
00072 };
00073 
00074 class ImuData  {
00075 public:
00076     static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU;
00077     static CRL_CONSTEXPR VersionType VERSION = 1;
00078 
00079     uint32_t               sequence;
00080     std::vector<ImuSample> samples;
00081 
00082 #ifndef SENSORPOD_FIRMWARE
00083 
00084     //
00085     // Constructors
00086 
00087     ImuData(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
00088     ImuData() {};
00089 
00090     //
00091     // Serialization routine
00092 
00093     template<class Archive>
00094         void serialize(Archive&          message,
00095                        const VersionType version)
00096     {
00097         message & sequence;
00098         message & samples;
00099     }
00100 #endif // !SENSORPOD_FIRMWARE
00101 
00102 };
00103 
00104 }}}}; // namespaces
00105 
00106 #endif


multisense_lib
Author(s):
autogenerated on Fri Apr 5 2019 02:28:24