imunano33.hpp

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#ifndef INCLUDE_IMUNANO33_IMUNANO33_HPP_
#define INCLUDE_IMUNANO33_IMUNANO33_HPP_
 
#include "imunano33/climate.hpp"
#include "imunano33/filter.hpp"
#include "imunano33/quaternion.hpp"
#ifdef IMUNANO33_EMBED
#include "imunano33/sv_embed.hpp"
#else
#include "imunano33/simplevectors.hpp"
#endif
#include "imunano33/unit.hpp"
 
namespace imunano33 {
#ifdef IMUNANO33_EMBED
using Vector3D =
    svector::EmbVec3D; 
#else
using svector::Vector3D;
#endif
 
class IMUNano33 {
public:
  IMUNano33() = default;
 
  IMUNano33(const num_t gyroFavoring) : m_filter{gyroFavoring} {}
 
  IMUNano33(const num_t gyroFavoring, const Quaternion &initialQ)
      : m_initialQ{initialQ}, m_filter{gyroFavoring, initialQ} {}
 
  IMUNano33(const IMUNano33 &other) = default;
 
  IMUNano33 &operator=(const IMUNano33 &other) = default;
 
  ~IMUNano33() = default;
 
  IMUNano33(IMUNano33 &&) = default;
 
  IMUNano33 &operator=(IMUNano33 &&) = default;
 
  void updateClimate(const num_t temperature, const num_t humidity,
                     const num_t pressure) {
    m_climate.update(temperature, humidity, pressure);
  }
 
  void updateIMU(const Vector3D &accel, const Vector3D &gyro,
                 const num_t deltaT) {
    m_filter.update(accel, gyro, deltaT);
  }
 
  void updateIMUAccel(const Vector3D &accel) { m_filter.updateAccel(accel); }
 
  void updateIMUGyro(const Vector3D &gyro, const num_t deltaT) {
    m_filter.updateGyro(gyro, deltaT);
  }
 
  void update(const Vector3D &accel, const Vector3D &gyro, const num_t deltaT,
              const num_t temperature, const num_t humidity,
              const num_t pressure) {
    updateIMU(accel, gyro, deltaT);
    updateClimate(temperature, humidity, pressure);
  }
 
  void resetIMU() { m_filter.setRotQ(m_initialQ); }
 
  void zeroIMU() { m_filter.reset(); }
 
  void resetClimate() { m_climate.reset(); }
 
  void setRotQ(const Quaternion &q) { m_filter.setRotQ(q); }
 
  void setGyroFavoring(const num_t favoring) {
    m_filter.setGyroFavoring(favoring);
  }
 
  Quaternion getRotQ() const { return m_filter.getRotQ(); }
 
  num_t getGyroFavoring() const { return m_filter.getGyroFavoring(); }
 
  template <TempUnit U> num_t getTemperature() const {
    return m_climate.getTemp<U>();
  }
 
  template <PressureUnit U> num_t getPressure() const {
    return m_climate.getPressure<U>();
  }
 
  num_t getHumidity() const { return m_climate.getHumidity(); }
 
  bool climateDataExists() const { return m_climate.dataExists(); }
 
private:
  Quaternion m_initialQ;
  Filter m_filter;
  Climate m_climate;
};
} // namespace imunano33
#endif