41 lines
1.6 KiB
C++
41 lines
1.6 KiB
C++
#pragma once
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#include "Sensor.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief A Sensor which can measure the magnetic field
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class Accelerometer : public Sensor {
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public:
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Accelerometer(){};
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/// @brief Returns the direction of the acceleration in the horizontal plane
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/// @return The direction of the acceleration, negative is left, positive is
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/// right
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/// @note The horizontal plane is defined as being orthogonal to the gravity
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/// vector
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/// @note the units (degrees, radians, -1..1, ...) depend on the sensor
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float GetHorizontalAccelerationDirection();
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/// @brief Returns the magnitude of the acceleration in the horizontal plane
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/// @return The magnitude. This value is never negative.
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/// @note the unity (m/s^2, 0..1) depends on the sensor.
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float GetHorizontalAccelerationMagnitude();
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/// @brief This gives the gravity direciton relative to the down direction.
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/// @param horizontal the horizontal direction, negative is left, positive is
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/// right
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/// @param vertical the vertical direction, negative is down, positive is up
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/// @note The horizontal plane is defined as being orthogonal to the gravity
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/// vector
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/// @note the units (degrees, radians, -1..1, ...) depend on the sensor
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void GetAccelerationDirection(float* horizontal, float* vertical);
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/// @brief The magnitude of the gravity field.
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/// @return The magnitude. This value is never negative.
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/// @note the unity (m/s^2, 0..1) depends on the sensor.
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float GetAccelerationMagnitude();
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |