XsensDriver.hpp

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#ifndef __XSENSDRIVER_H__
#define __XSENSDRIVER_H__

#include <string>
#include <Eigen/Geometry> 
#include <stdint.h>
#include <list>
#include <map>

#include "XsensTypes.hpp"

namespace xsens_imu {

    class XsensData;

    class XsensDriver {
        public:
            static const int DEFAULT_SAMPLE_FREQUENCY = 100;

            XsensDriver();
            ~XsensDriver();

            bool open(std::string const& dev);
            bool close();

            bool setReadingMode(enum xsens_imu::imuMode = ONLY_ORI_DATA);
            bool setCalibrationMode();
            int getFileHandle();

            enum xsens_imu::errorCodes getReading();

            enum xsens_imu::errorCodes getReadingNonBlocking();

            bool setTimeout(const uint32_t timeout);

            void setFrequency(const uint16_t new_sample_frequency);

            uint16_t getFrequency(void);

            int getPacketCounter();


            Eigen::Quaternion<double> getOrientation() const;

            Eigen::Vector3d getEulerAngles() const;

            Eigen::Vector3d getCalibratedAccData() const;


            Eigen::Vector3d getCalibratedGyroData() const;


            Eigen::Vector3d getCalibratedMagData() const;

            Eigen::Vector3d getRawAccData() const;

            Eigen::Vector3d getRawGyroData() const;

            Eigen::Vector3d getRawMagData() const;

            std::list<std::string> getScenarios() const;

            std::list<std::string> getAvailableScenarios();
            bool setScenario(std::string const& name);

            bool setSyncOut(bool enable, bool pulse, bool positive);

        private:
            XsensData* _data;
            std::map< std::string, int > m_scenarios;
            uint16_t last_samplectr;
            int m_timeout;
            int samplectr_offset;
            unsigned short _sample_freq;
   };
}

#endif