IMUData.h

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Niccolò Betto
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <sensors/SensorData.h>
 
namespace Boardcore
{
 
struct IMUData : AccelerometerData, GyroscopeData, MagnetometerData
{
    IMUData() = default;
 
    IMUData(const AccelerometerData& accData, const GyroscopeData& gyroData,
            const MagnetometerData& magData)
        : AccelerometerData(accData), GyroscopeData(gyroData),
          MagnetometerData(magData)
    {
    }
 
    static std::string header()
    {
        return "accelerationTimestamp,accelerationX,accelerationY,"
               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
               "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
               "magneticFieldX,magneticFieldY,magneticFieldZ\n";
    }
 
    void print(std::ostream& os) const
    {
        os << accelerationTimestamp << "," << accelerationX << ","
           << accelerationY << "," << accelerationZ << ","
           << angularSpeedTimestamp << "," << angularSpeedX << ","
           << angularSpeedY << "," << angularSpeedZ << ","
           << magneticFieldTimestamp << "," << magneticFieldX << ","
           << magneticFieldY << "," << magneticFieldZ << "\n";
    }
};
 
}  // namespace Boardcore