motion_sensor.H

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// Copyright (C) 2004 Nitin Jyoti, Arun Pratap, Suresh Golconda ;-)

#ifndef CAJUN_MOTION_SENSOR_OBSERVERS_H
#define CAJUN_MOTION_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 motion_observer_t;

class motion_sensor_t : public components_t
{
#define DELAY_MOTION            0.01
friend class motion_observer_t;
public:
        motion_sensor_t (sim_world_object_t *parent, timer_t *timer);
        virtual ~motion_sensor_t ();
        void update_motion_data ();

        double get_heading () { return m_heading; }
        double get_roll () { return m_roll; }
        double get_pitch () { return m_pitch; }

        // 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_roll;
        double m_pitch;
        double m_heading;
        motion_observer_t * m_motion_observer;
};

class motion_observer_t : public timer_t::observer_t
{
        motion_sensor_t * m_motion_sensor;
public:
        motion_observer_t (motion_sensor_t * m, double interval_v);
        virtual ~motion_observer_t ();
        bool timeout (double currTime);
};
};
#endif

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