imu.hpp

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#ifndef OPENEV_CORE_IMU_HPP
#define OPENEV_CORE_IMU_HPP
 
#include "openev/core/types.hpp"
#include <ostream>
#include <queue>
#include <vector>
 
namespace ev {
[[maybe_unused]] constexpr bool USING_IMU_HPP = true;

struct xyz_t {
  double x{0};
  double y{0};
  double z{0};
 
  [[nodiscard]] bool empty() const {
    return x == 0 && y == 0 && z == 0;
  }
 
  void release() {
    x = y = z = 0;
  }
 
  friend std::ostream &operator<<(std::ostream &os, const xyz_t &xyz) {
    os << "(" << xyz.x << ", " << xyz.y << ", " << xyz.z << ")";
    return os;
  }
};

struct Imu {
  TimeType t{0};
  xyz_t linear_acceleration;
  xyz_t angular_velocity;
 
  [[nodiscard]] bool empty() const {
    return t == 0 && linear_acceleration.empty() && angular_velocity.empty();
  }
 
  void release() {
    t = 0;
    linear_acceleration.release();
    angular_velocity.release();
  }
 
  friend std::ostream &operator<<(std::ostream &os, const Imu &imu) {
    os << "t: " << imu.t << ", acc: " << imu.linear_acceleration << ", gyr: " << imu.angular_velocity;
    return os;
  }
};
using ImuVector = std::vector<Imu>;
using ImuQueue = std::queue<Imu>;
 
} // namespace ev
 
#endif // OPENEV_CORE_IMU_HPP