orientation.h

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#ifndef ORIENTATION_H
#define ORIENTATION_H

#define GRAVITY 9.81

#include "orientation.h"
#include <stdio.h>
#include <stdlib.h>
#include <math.h>

class Orientation
{

private:

        double timestampPreviousCall; //timestamp of the measurement got at the last call of the function
        double pitchOffset; //offset necessary go from angle in the intial device position coordinate system to the User coordinate system
        double rollOffset; //offset necessary go from angle in the intial device position coordinate system to the User coordinate system
        double roll;
        double pitch;
        double yaw;
        double gravity[3]; //We save the gravity to know if the gravity we got is different from before or not
        double gravityEpsilon;
        int validGravityCounter; //Counter the number of valid gravity vector(valid in the sense that the norm is near 1) that follow each other
        int validAccelerationVectorsNecessaryToDetectGravity;
        double lastGravityVectorDetected[3]; //save the value of the last gravity vector detected with the algorithm values

        double ToRad(double value);
        bool isEqual(double vector1[3], double vector2[3]);
        void detectGravity(double gravity[3], float acceleration[3]);
        void calculate_new_gravity(float acceleration[3]);

public:

        Orientation();
        ~Orientation(){};
        void updateAngles(float gyroscopeVector[3], float AccelerationVector[3], double gyroscopeTimestamp);
        double get_roll();
        double get_pitch();
        double get_yaw();
};
#endif