spatial.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * 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 the copyright holder 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
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#ifndef PHIDGETS_API_SPATIAL_H
#define PHIDGETS_API_SPATIAL_H
 
#include <functional>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
class Spatial final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Spatial)
 
    explicit Spatial(
        int32_t serial_number, int hub_port, bool is_hub_port_device,
        std::function<void(const double[3], const double[3], const double[3],
                           double)>
            data_handler,
        std::function<void(const double[4], double)> algorithm_data_handler,
        std::function<void()> attach_handler = nullptr,
        std::function<void()> detach_handler = nullptr);
 
    ~Spatial();
 
    void setCompassCorrectionParameters(double cc_mag_field, double cc_offset0,
                                        double cc_offset1, double cc_offset2,
                                        double cc_gain0, double cc_gain1,
                                        double cc_gain2, double cc_T0,
                                        double cc_T1, double cc_T2,
                                        double cc_T3, double cc_T4,
                                        double cc_T5);
 
    void setSpatialAlgorithm(const std::string algorithm);
 
    void setAHRSParameters(double angularVelocityThreshold,
                           double angularVelocityDeltaThreshold,
                           double accelerationThreshold, double magTime,
                           double accelTime, double biasTime);
 
    void setAlgorithmMagnetometerGain(double magnetometer_gain);
 
    void setHeatingEnabled(bool heating_enabled);
 
    void setDataInterval(uint32_t interval_ms) const;
 
    void zero() const;
 
    void dataHandler(const double acceleration[3], const double angular_rate[3],
                     const double magnetic_field[3], double timestamp) const;
 
    void algorithmDataHandler(const double quaternion[4],
                              double timestamp) const;
 
    virtual void attachHandler();
    virtual void detachHandler();
 
  private:
    std::function<void(const double[3], const double[3], const double[3],
                       double)>
        data_handler_;
 
    std::function<void(const double quaternion[4], double)>
        algorithm_data_handler_;
 
    std::function<void()> attach_handler_;
    std::function<void()> detach_handler_;
 
    PhidgetSpatialHandle spatial_handle_{nullptr};
 
    static void DataHandler(PhidgetSpatialHandle input_handle, void *ctx,
                            const double acceleration[3],
                            const double angular_rate[3],
                            const double magnetic_field[3], double timestamp);
    static void AlgorithmDataHandler(PhidgetSpatialHandle input_handle,
                                     void *ctx, const double quaternion[4],
                                     double timestamp);
    static void AttachHandler(PhidgetHandle input_handle, void *ctx);
    static void DetachHandler(PhidgetHandle input_handle, void *ctx);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_API_SPATIAL_H