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Initial implementation of iAcceleration

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Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Serban Waltter
2018-07-26 18:06:33 +03:00
committed by Mihai Tudor Panu
parent 90524273ec
commit f992876461
48 changed files with 512 additions and 35 deletions
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8
src/bno055/bno055.cxx
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@ -388,6 +388,14 @@ vector<float> BNO055::getAccelerometer()
return vector<float>(v, v+3);
}
std::vector<float> BNO055::getAcceleration()
{
std::vector<float> v(3);
bno055_get_accelerometer(m_bno055, &v[0], &v[1], &v[2]);
return v;
}
void BNO055::getMagnetometer(float *x, float *y, float *z)
{
bno055_get_magnetometer(m_bno055, x, y, z);

11
src/bno055/bno055.hpp
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@ -28,6 +28,8 @@
#include <vector>
#include "bno055.h"
#include <interfaces/iAcceleration.hpp>
namespace upm {
/**
@ -100,7 +102,7 @@ namespace upm {
* @snippet bno055.cxx Interesting
*/
class BNO055 {
class BNO055: virtual public iAcceleration {
public:
/**
@ -420,6 +422,13 @@ namespace upm {
*/
std::vector<float> getAccelerometer();
/**
* get acceleration values
*
* @return stl vector of size 3 representing the 3 axis
*/
virtual std::vector<float> getAcceleration();
/**
* Return uncompensated magnetometer data (non-fusion). In fusion
* modes, this data will be of little value. The returned values