PhysicalTiltSensor.h

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/************************************************************************************************/
/*! \file PhysicalTiltSensor.h
*  \brief Physical interface to a Two-Axis Tilt Sensor.
*  \author $Author: cakinli $
*  \version $Revision: 1.2 $
*  \date    $Date: 2005/03/16 18:08:17 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_PHYSICALTILTSENSOR_H__
#define __SSSL_PHYSICALTILTSENSOR_H__

#include <Sensors/AttitudeSensor.h>
#include <Utils/Measurement.h>
#include <matrix/Matrix.h>
#include <string.h>
extern "C"
{
#include <Hardware/satctl.h>
}
extern "C"
{
#include <Hardware/common.h>
}


using namespace std;
using namespace O_SESSAME;

class PhysicalTiltSensor : public AttitudeSensor
{
public :
        /*! Default Constructor */
        PhysicalTiltSensor();

        /*! Deconstructor */
        virtual ~PhysicalTiltSensor();
        
        /*! Initialize */
        int Initialize();

        /*! Get rotation of sensor (pure virtual from Sensor.h) */
        Vector GetSensorToBodyQuaternion();

        /*! Get measured pitch angle (rad) */
        void GetAngles(double& pitch, double& roll, double& t);

        /*! Get comm port file descriptor */
        int GetFD();

        /*! Set comm port */
        void SetPort(string Port);

        Measurement GetMeasurement();

protected :
        
private :
        /*! Current Pitch Angle (rad) */
        double m_PitchAngle;

        /*! Time Stamp of pitch measurement */
        double m_PitchTime;

        /*! Current Roll Angle (rad) */
        double m_RollAngle;

        /*! Time Stamp of Roll measurement */
        double m_RollTime;

        /*! Serial comm file descriptor*/
        int m_fd;

        /*! Serial comm port*/
        string m_Port;
};
#endif

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