IMU.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef SIMULATION_MARSIMU_TASK_HPP
#define SIMULATION_MARSIMU_TASK_HPP

#include "mars/IMUBase.hpp"
#include <boost/random/normal_distribution.hpp>
#include <boost/random/mersenne_twister.hpp>

namespace mars {

    class IMUPlugin;

    class IMU : public IMUBase
    {
        friend class IMUBase;

    protected:

    /* Normally triggers bias estimation on the xsens imu, in simulation thios does nothing
     */
    virtual bool estimate_bias(boost::uint16_t duration){};

        long node_id;
        base::samples::RigidBodyState rbs;
        base::samples::IMUSensors imusens;
        boost::mt19937 rnd_generator;
        boost::normal_distribution<double> translation_noise;
        boost::normal_distribution<double> rotation_noise;
        boost::normal_distribution<double> velocity_noise;
        boost::normal_distribution<double> angular_velocity_noise;
        void update( double time );


    public:
        IMU(std::string const& name = "mars::IMU");

        IMU(std::string const& name, RTT::ExecutionEngine* engine);

        ~IMU();

        // bool configureHook();

        bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

        // void cleanupHook();
    };
}

#endif