frank
284c6b11a6
added new helper class for 3x3 matrices and vec3 added magnetometer data added compass detection refactored pose-estimation (single class) refactored debug plots (move to own class) minor changes
40 lines
690 B
C++
40 lines
690 B
C++
#ifndef OFFLINE_SENSORS_H
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#define OFFLINE_SENSORS_H
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namespace Offline {
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enum class Sensor {
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ACC = 0,
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GRAVITY = 1,
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LIN_ACC = 2,
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GYRO = 3,
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MAGNETOMETER = 4,
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BARO = 5,
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COMPASS = 6, // also called "orientatioN"
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WIFI = 8,
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BEACON = 9,
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GPS = 16,
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GROUND_TRUTH = 99,
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POS = 1001, // IPIN2016
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};
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template <typename T> struct TS {
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const uint64_t ts;
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T data;
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TS(const uint64_t ts) : ts(ts) {;}
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TS(const uint64_t ts, const T& data) : ts(ts), data(data) {;}
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};
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/** entry for one sensor */
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struct Entry {
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Sensor type;
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uint64_t ts;
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int idx;
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Entry(Sensor type, uint64_t ts, int idx) : type(type), ts(ts), idx(idx) {;}
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};
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}
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#endif // OFFLINE_SENSORS_H
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