.. _program_listing_file__tmp_ws_src_phidgets_drivers_phidgets_api_include_phidgets_api_gyroscope.hpp:

Program Listing for File gyroscope.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_phidgets_drivers_phidgets_api_include_phidgets_api_gyroscope.hpp>` (``/tmp/ws/src/phidgets_drivers/phidgets_api/include/phidgets_api/gyroscope.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef PHIDGETS_API_GYROSCOPE_HPP
   #define PHIDGETS_API_GYROSCOPE_HPP
   
   #include <functional>
   
   #include <libphidget22/phidget22.h>
   
   #include "phidgets_api/phidget22.hpp"
   
   namespace phidgets {
   
   class Gyroscope final
   {
     public:
       PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Gyroscope)
   
       explicit Gyroscope(
           int32_t serial_number, int hub_port, bool is_hub_port_device,
           std::function<void(const double[3], double)> data_handler);
   
       ~Gyroscope();
   
       int32_t getSerialNumber() const noexcept;
   
       void getAngularRate(double &x, double &y, double &z,
                           double &timestamp) const;
   
       void setDataInterval(uint32_t interval_ms) const;
   
       void zero() const;
   
       void dataHandler(const double angular_rate[3], double timestamp) const;
   
     private:
       int32_t serial_number_;
       std::function<void(const double[3], double)> data_handler_;
       PhidgetGyroscopeHandle gyro_handle_{nullptr};
   
       static void DataHandler(PhidgetGyroscopeHandle input_handle, void *ctx,
                               const double angular_rate[3], double timestamp);
   };
   
   }  // namespace phidgets
   
   #endif  // PHIDGETS_API_GYROSCOPE_HPP