TiltSensor.h

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

#ifndef __SSSL_TILTSENSOR_H__
#define __SSSL_TILTSENSOR_H__

#include <Sensors/AttitudeSensor.h>
#include <matrix/Matrix.h>
#include <Utils/Measurement.h>
#include <Utils/CfgParse.h>
#include <Sensors/PhysicalTiltSensor.h>

using namespace std;
using namespace O_SESSAME;

class TiltSensor : public AttitudeSensor  
{
public:
        /*! Default COnstructor */ 
        TiltSensor();

        /*! Constructor with Config parsing */
        TiltSensor(cfgBody& cfgdat);

        /*! Deconstructor */
        virtual ~TiltSensor();

        /*! Inititalizer */
        int Initialize();

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

        /*! Get Location of sensor */
        Vector GetSensorLocation();

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

        /*! Get comm file descriptor*/
        int GetFD();
        
        /*! Set comm port */
        void SetPort(string Port);
        
        Measurement GetMeasurement();

protected:
        
private:
        /*! Member PhysicalTiltSensor */
        PhysicalTiltSensor m_PhysicalTiltSensor;

        /*! Sensor Location */
        Vector m_Location;

        /*! Sensor rotation */
        Vector m_Q;
};
#endif

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