TiltSensor.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file TiltSensor.cpp
*  \brief Implementation of the TiltSensor class
*  \author $Author: cakinli $
*  \version $Revision: 1.2 $
*  \date    $Date: 2005/03/16 18:08:18 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#include "TiltSensor.h"

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

TiltSensor::TiltSensor()
{
}

TiltSensor::TiltSensor(cfgBody& cfgdat)
{
  const char *myCommands[20] = {"Location", "Rotation", "Port"};
  /* "Location" - Sensor location
  *  "Rotation" - Sensor to body quaternion 
  *  "Port" - String representing sensor com port */
  Vector tmpVec1(3);
  Vector tmpVec2(4);
  for (int i = 0; cfgdat.keys[i][0]; i++) {
    switch(getCmdIndex(myCommands, cfgdat.keys[i])) {
          case 0:
                for (int j = 0; j < 3 && cfgdat.vals[i][j][0];j++)
                        tmpVec1(j+1) = atof(cfgdat.vals[i][j]);
                m_Location = tmpVec1;
                break;
        
          case 1:
                for (int j = 0; j < 4 && cfgdat.vals[i][j][0];j++)
                        tmpVec2(j+1) = atof(cfgdat.vals[i][j]);
                m_Q = tmpVec2; 
                
          case 2:
                m_PhysicalTiltSensor.SetPort(string(cfgdat.vals[i][0]));
            break;

          default:
                break;
        
    }
  }
}

TiltSensor::~TiltSensor()
{
}

int TiltSensor::Initialize()
{
        return m_PhysicalTiltSensor.Initialize();
}

Vector TiltSensor::GetSensorToBodyQuaternion()
{
        return m_Q;
}

Vector TiltSensor::GetSensorLocation()
{ 
        return m_Location;
}

void TiltSensor::GetAngles(double& pitch, double& roll, double& t)
{
        m_PhysicalTiltSensor.GetAngles(pitch,roll,t);
}

int TiltSensor::GetFD()
{
        return m_PhysicalTiltSensor.GetFD();
}

void TiltSensor::SetPort(string Port)
{
        m_PhysicalTiltSensor.SetPort(Port);
}

Measurement TiltSensor::GetMeasurement()
{
        Measurement M;
        return M;
}

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