vos/corelibs/tracking/intersenseorientation.hh

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/*
    This file is part of the Virtual Object System of
    the Interreality project (http://interreality.org).

    Copyright (C) 2001, 2002 Peter Amstutz

    This software was written at the University of Massachusetts with
    support from NSF grant #EIA 9703217

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307  USA

    Peter Amstutz <tetron@interreality.org>
*/
#ifndef _INTERSENSEORIENTATION_HH_
#define _INTERSENSEORIENTATION_HH_

#include <fcntl.h>
#include <termios.h>
#include <stdio.h>

#include "orientation.hh"




/** Implementation of Orientation which gets info from an Intersense IS-300
 * tracking device.
 *
 * @bug There is no timeout reading from the IS; everything hangs if there is no
 * response (e.g. IS is turned off)
 */
class IntersenseOrientation : public Orientation
{
private:
    struct termios oldtio, newtio;
    FILE* filep;
    int fd;
public:

    IntersenseOrientation(const char* dev = "/dev/isense", int bps = 115200) throw (DeviceError);
    virtual ~IntersenseOrientation();
    virtual void getOrientationMatrix(double mat[3][3])  throw(DeviceError);
    virtual void getEulerAngles(double* yaw, double* pitch, double* roll) throw(DeviceError);
};


#endif

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