From afa459b120a02aa6fb72b64ad2e79f1e535ca147 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 23 Nov 2023 17:51:20 +0100
Subject: [PATCH] Added accelerometer & magnetometer framework

---
 Accelerometer.h | 19 +++++++++++++++++++
 Magnetometer.h  | 23 +++++++++++++++++++++++
 Roboid.h        |  6 ++++++
 3 files changed, 48 insertions(+)
 create mode 100644 Accelerometer.h
 create mode 100644 Magnetometer.h

diff --git a/Accelerometer.h b/Accelerometer.h
new file mode 100644
index 0000000..b7bf662
--- /dev/null
+++ b/Accelerometer.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "Sensor.h"
+
+/// @brief A Sensor which can measure the magnetic field
+class Accelerometer : public Sensor {
+ public:
+  Accelerometer(){};
+
+  /// @brief This gives the gravity direciton relative to the down direction.
+  /// @param forward the forward direction, negative is backward, positive is forward
+  /// @param sideward the sideward direction, negative is left, positive is to the right
+  /// @note the units (degrees, radians, -1..1, ...) depend on the sensor
+  void GetAccelerationDirection(float* forward, float* sideward);
+  /// @brief The magnitude of the gravity field.
+  /// @return The magnitude. This value is never negative.
+  /// @note the unity (m/s^2, 0..1) depends on the sensor.
+  float GetAccelerationMagnitude();
+};
\ No newline at end of file
diff --git a/Magnetometer.h b/Magnetometer.h
new file mode 100644
index 0000000..ee9cf88
--- /dev/null
+++ b/Magnetometer.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Sensor.h"
+
+/// @brief A Sensor which can measure the magnetic field
+class Magnetometer : public Sensor {
+ public:
+  Magnetometer();
+
+  /// @brief Returns the direction of the magnetic field relative to the forward direction
+  /// @return The direction, negative is to the left, positive is to the right
+  /// @note The actual unit (degrees, radians, -1..1, ...) depends on the sensor.
+  virtual float GetDirection();
+  /// @brief Returns the inclination of the magnetic field relative to the horizontal plane
+  /// @return The direction, negative is downward, positive is upward
+  /// @note The actual unit (degrees, radias, -1..1, ...) depends on the sensor.
+  virtual float GetInclination();
+
+  /// @brief Returns the strength of the magnetic field
+  /// @return The strength. This values should always be positive
+  /// @note The actual unit (tesla, 0..1, ...) depends on the sensor.
+  virtual unsigned float GetMagnitude();
+}
\ No newline at end of file
diff --git a/Roboid.h b/Roboid.h
index 7aa1b23..6b16a6d 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -5,6 +5,11 @@
 #include "Placement.h"
 #include "Propulsion.h"
 
+class Acceleration {
+ public:
+  float GetMagnitude() { return 0;};
+};
+
 class Roboid {
  public:
   Roboid();
@@ -12,6 +17,7 @@ class Roboid {
 
   Perception perception;
   Propulsion propulsion;
+  Acceleration acceleration;
 
   Placement* configuration;
   unsigned int thingCount;