angular_rate_sensor.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Author(s): Christopher Mire

#ifndef CAJUN_ANGULAR_RATE_SENSOR_OBSERVERS_H
#define CAJUN_ANGULAR_RATE_SENSOR_OBSERVERS_H

#include "timer.H"
#include "data_logger.H"
#include "queue_generator.H"
#include "components.H"
#include "sim_world_object.H"

namespace cajun
{
class angular_rate_observer_t;

class angular_rate_sensor_t : public components_t
{
#define DELAY_ANGULAR_RATE              0.01
friend class angular_rate_observer_t;
public:
        angular_rate_sensor_t (sim_world_object_t *parent, timer_t *timer);
        virtual ~angular_rate_sensor_t ();
        void update_angular_rate_data ();

        double get_x_vel () { return m_x_vel; }
        double get_y_vel () { return m_y_vel; }
        double get_z_vel () { return m_z_vel; }

        // inherited functions
        void update_position ( dBodyID carb ) { };
        void command ( int cmd, double value ) { };
        void simulate_component (dBodyID carb) { };
private:
        sim_world_object_t *m_robot;
        double m_x_vel;
        double m_y_vel;
        double m_z_vel;
        angular_rate_observer_t * m_angular_rate_observer;
};

class angular_rate_observer_t : public timer_t::observer_t
{
        angular_rate_sensor_t * m_angular_rate_sensor;
public:
        angular_rate_observer_t (angular_rate_sensor_t * m, double interval_v);
        virtual ~angular_rate_observer_t ();
        bool timeout (double currTime);
};
};
#endif

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