Imu.hh

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/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_IMU_HH_
#define SDF_IMU_HH_

#include <string>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  class ImuPrivate;

  class SDFORMAT_VISIBLE Imu
  {
    public: Imu();

    public: Imu(const Imu &_imu);

    public: Imu(Imu &&_imu) noexcept;

    public: ~Imu();

    public: Imu &operator=(const Imu &_imu);

    public: Imu &operator=(Imu &&_imu) noexcept;

    public: Errors Load(ElementPtr _sdf);

    public: sdf::ElementPtr Element() const;

    public: const Noise &LinearAccelerationXNoise() const;

    public: void SetLinearAccelerationXNoise(const Noise &_noise);

    public: const Noise &LinearAccelerationYNoise() const;

    public: void SetLinearAccelerationYNoise(const Noise &_noise);

    public: const Noise &LinearAccelerationZNoise() const;

    public: void SetLinearAccelerationZNoise(const Noise &_noise);

    public: const Noise &AngularVelocityXNoise() const;

    public: void SetAngularVelocityXNoise(const Noise &_noise);

    public: const Noise &AngularVelocityYNoise() const;

    public: void SetAngularVelocityYNoise(const Noise &_noise);

    public: const Noise &AngularVelocityZNoise() const;

    public: void SetAngularVelocityZNoise(const Noise &_noise);

    public: ignition::math::Vector3d &GravityDirX() const;

    public: void SetGravityDirX(const ignition::math::Vector3d  &_grav) const;

    public: const std::string &GravityDirXParentFrame() const;

    public: void SetGravityDirXParentFrame(const std::string &_frame) const;

    public: const std::string &Localization() const;

    public: void SetLocalization(const std::string &_localization);

    public: const ignition::math::Vector3d &CustomRpy() const;

    public: void SetCustomRpy(const ignition::math::Vector3d &_rpy) const;

    public: const std::string &CustomRpyParentFrame() const;

    public: void SetCustomRpyParentFrame(const std::string &_frame) const;

    public: bool operator==(const Imu &_imu) const;

    public: bool operator!=(const Imu &_imu) const;

    private: ImuPrivate *dataPtr;
  };
  }
}
#endif