IMUDataProcessorOptions.cpp

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/*
 * IMUDataProcessorOptions.cpp
 *
 *  Created on: Aug 23, 2012
 *      Author: mriedel
 */

#include "IMUDataProcessorOptions.hpp"


#include <telekyb_defines/physic_defines.hpp>

namespace TELEKYB_NAMESPACE {

IMUDataProcessorOptions::IMUDataProcessorOptions()
 : OptionContainer("IMUDataProcessor")
{

        tInitialDriftEstim = addOption<bool>("tInitialDriftEstim",
                                "Do Drift Estimation before at Start-Up", true, false, true);

        tAccOffsets = addOption<Eigen::Vector3d>("tAccOffsets",
                        "Accelerometer Offset Values (x,y,z)", Eigen::Vector3d::Zero(), false, false);
        tGyroOffsets = addOption<Eigen::Vector3d>("tGyroOffsets",
                        "Gyroscope Offset Values (roll,pitch,yaw)", Eigen::Vector3d::Zero(), false, false);

        tAccScale = addOption<double>("tAccScale",
                        "Accelerometer Scale over the range 0-1024", 5.0 * GRAVITY , false, true);

        tGyroScale = addOption<double>("tGyroScale",
                        "Gyro Scale over the range 0-1024", 600.0/180.0*M_PI, false, true);//600 should be ~900?

        // Topic Name
        tTopicName = addOption< std::string >("tTopicName",
                        "Topic to publish Imu Message to...",
                        "imuData" , false, true);
        tPublishRaw = addOption<bool>("tPublishRaw",
                        "Publish Raw QC Data", true, false, true);
}

} /* namespace telekyb */