imu_sensor.h

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#ifndef OPEN_WALKER_CORE_IMPLEMENTATIONS_IMU_SENSOR_H
#define OPEN_WALKER_CORE_IMPLEMENTATIONS_IMU_SENSOR_H

#include <ow_core/types.h>
#include <ow_core/Interfaces/i_imu_sensor.h>

namespace ow_core
{
class ImuSensor :
        public IImuSensor
{
public:

protected:
  ow::LinearAcceleration xPP_;
  ow::AngularPosition Q_;
  ow::AngularVelocity omega_;

public:
    ImuSensor() :
      xPP_(ow::LinearAcceleration::Zero()),
      Q_(ow::AngularPosition::Identity()),
      omega_(ow::AngularVelocity::Zero())
    {}

    virtual ~ImuSensor()
    {
    }


    virtual ow::LinearAcceleration& xPP()
    {
      return xPP_;
    }

    virtual const ow::LinearAcceleration& xPP() const
    {
      return xPP_;
    }


    virtual ow::AngularPosition& Q()
    {
      return Q_;
    }

    virtual const ow::AngularPosition& Q() const
    {
      return Q_;
    }


    virtual ow::AngularVelocity& omega()
    {
      return omega_;
    }

    virtual const ow::AngularVelocity& omega() const
    {
      return omega_;
    }

};

}  // namespace ow_core


#endif  // OPEN_WALKER_CORE_JOINT_POSITION_H