IMUState.h

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/*
 * IMUState.h
 *
 *  Created on: Mar 16, 2014
 *      Author: Dr.-Ing. David Israel González Aguirre
 *      Mail:   david.gonzalez@kit.edu
 */
 
#pragma once
 
#include "Includes.h"
 
namespace IMU
{
    struct IMUState
    {
        inline IMUState() : m_ControlData(), m_PhysicalData()
        {
        }
 
        struct ControlData
        {
            ControlData() :
                m_PreviousSampleCount(-1),
                m_CurrentSampleCount(0),
                m_MessageCounter(0),
                m_IsConsecutive(false)
            {
                memset(&m_TimeStamp, 0, sizeof(timeval));
            }
 
            long m_PreviousSampleCount;
            unsigned short m_CurrentSampleCount;
            long m_MessageCounter;
            bool m_IsConsecutive;
            timeval m_TimeStamp;
        };
 
        struct PhysicalData
        {
            PhysicalData() : m_AccelerationMagnitud(0.0f)
            {
                memset(m_Acceleration, 0, sizeof(float) * 3);
                memset(m_GyroscopeRotation, 0, sizeof(float) * 3);
                memset(m_MagneticRotation, 0, sizeof(float) * 3);
                memset(m_QuaternionRotation, 0, sizeof(float) * 4);
            }
 
            float m_Acceleration[3];
            float m_AccelerationMagnitud;
            float m_GyroscopeRotation[3];
            float m_MagneticRotation[3];
            float m_QuaternionRotation[4];
 
            inline void
            UpdateAccelerationMagnitud()
            {
                m_AccelerationMagnitud = std::sqrt(m_Acceleration[0] * m_Acceleration[0] +
                                                   m_Acceleration[1] * m_Acceleration[1] +
                                                   m_Acceleration[2] * m_Acceleration[2]);
            }
        };
 
        ControlData m_ControlData;
        PhysicalData m_PhysicalData;
    };
} // namespace IMU