Program Listing for File spatial.hpp
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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:
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* documentation and/or other materials provided with the distribution.
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* this software without specific prior written permission.
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#ifndef PHIDGETS_API_SPATIAL_HPP
#define PHIDGETS_API_SPATIAL_HPP
#include <functional>
#include <libphidget22/phidget22.h>
#include "phidgets_api/phidget22.hpp"
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()> attach_handler = nullptr,
std::function<void()> detach_handler = nullptr);
~Spatial();
int32_t getSerialNumber() const noexcept;
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 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;
virtual void attachHandler();
virtual void detachHandler();
private:
int32_t serial_number_;
std::function<void(const double[3], const double[3], const double[3],
double)>
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 AttachHandler(PhidgetHandle input_handle, void *ctx);
static void DetachHandler(PhidgetHandle input_handle, void *ctx);
};
} // namespace phidgets
#endif // PHIDGETS_API_SPATIAL_HPP