GyroscopeModel.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/export.h>
#include <agxSensor/TriaxialCrossSensitivity.h>
#include <agxSensor/TriaxialRange.h>
#include <agxSensor/TriaxialSignalSystemNode.h>
 
#include <agxStream/Serializable.h>
 
#include <agx/Referenced.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( GyroscopeModel );
 
  class AGXSENSOR_EXPORT GyroscopeModel : public agx::Referenced, public agxStream::Serializable
  {
    public:
      static GyroscopeModel* makeIdealModel();
 
    public:
      GyroscopeModel( TriaxialRange range = agx::RangeReal(
                        std::numeric_limits<agx::Real>::lowest(),
                        std::numeric_limits<agx::Real>::max() ),
                      TriaxialCrossSensitivity crossSensitivity = 0.01,
                      agx::Vec3 zeroRateBias = agx::Vec3( 3.0 ),
                      ITriaxialSignalSystemNodeRefVector outputModifiers = ITriaxialSignalSystemNodeRefVector() );
 
      void setRange( const TriaxialRange& range );
 
      const TriaxialRange& getRange() const;
 
      void setCrossAxisSensitivity( const TriaxialCrossSensitivity& crossSensitivity );
 
      const TriaxialCrossSensitivity& getCrossAxisSensitivity() const;
 
      void setZeroRateBias( const agx::Vec3& zeroRateBias );
 
      const agx::Vec3& getZeroRateBias() const;
 
      const ITriaxialSignalSystemNodeRefVector& getOutputModifiers() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~GyroscopeModel() = default;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::GyroscopeModel );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      TriaxialRange m_range;
      TriaxialCrossSensitivity m_crossAxisSensitivity;
      agx::Vec3 m_zeroRateBias;
      ITriaxialSignalSystemNodeRefVector m_outputModifiers;
  };
}