IMU_SFE_Atomic.H

00001 /*!@file Devices/IMU_IMU_SFE_Atomic.H class
00002  for interfacing with the Spark Fun Electronics Atomic IMU */
00003 
00004 // //////////////////////////////////////////////////////////////////// //
00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003   //
00006 // by the University of Southern California (USC) and the iLab at USC.  //
00007 // See http://iLab.usc.edu for information about this project.          //
00008 // //////////////////////////////////////////////////////////////////// //
00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00011 // in Visual Environments, and Applications'' by Christof Koch and      //
00012 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00013 // pending; application number 09/912,225 filed July 23, 2001; see      //
00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00015 // //////////////////////////////////////////////////////////////////// //
00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00017 //                                                                      //
00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00019 // redistribute it and/or modify it under the terms of the GNU General  //
00020 // Public License as published by the Free Software Foundation; either  //
00021 // version 2 of the License, or (at your option) any later version.     //
00022 //                                                                      //
00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00026 // PURPOSE.  See the GNU General Public License for more details.       //
00027 //                                                                      //
00028 // You should have received a copy of the GNU General Public License    //
00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00031 // Boston, MA 02111-1307 USA.                                           //
00032 // //////////////////////////////////////////////////////////////////// //
00033 //
00034 
00035 
00036 #ifndef IMU_SFE_ATOMIC_H
00037 #define IMU_SFE_ATOMIC_H
00038 
00039 #include "Component/OptionManager.H"
00040 #include "Devices/Serial.H"
00041 
00042 class IMU_SFE_Atomic : public ModelComponent
00043 {
00044   public:
00045     IMU_SFE_Atomic(OptionManager& mgr,
00046         const std::string& descrName = "IMU_SFE_Atomic",
00047         const std::string& tagName   = "IMU_SFE_Atomic");
00048 
00049     struct IMUData
00050     {
00051       float accelX;
00052       float accelY;
00053       float accelZ;
00054       float pitch;
00055       float roll;
00056       float yaw;
00057       float count;
00058     };
00059 
00060     IMUData readIMUData();
00061 
00062     void start2();
00063 
00064   private:
00065     nub::ref<Serial> itsSerial;
00066 };
00067 
00068 #endif
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