IMU.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,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
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/FrameAttachedSensor.h>
#include <agxSensor/IMUModel.h>
#include <agxSensor/IMUOutputHandler.h>
 
#include <agxSDK/Simulation.h>
 
#include <agx/Frame.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( IMU );
  AGX_DECLARE_VECTOR_TYPES( IMU );
 
  class AGXSENSOR_EXPORT IMU : public FrameAttachedSensor
  {
    public:
      using SensorAttachment = IMUModelSensorAttachment::SensorAttachment;
      using SensorAttachmentVector = IMUModelSensorAttachment::SensorAttachmentVector;
 
    public:
      static IMU* find( const agxSDK::Simulation* simulation, const agx::Name& name );
 
      static IMU* find( const Environment* environment, const agx::Name& name );
 
      static IMUPtrVector findAll( const agxSDK::Simulation* simulation, const agx::Name& name );
 
      static IMUPtrVector findAll( const Environment* environment, const agx::Name& name );
 
      static IMUPtrVector findAll( const agxSDK::Simulation* simulation );
 
      static IMUPtrVector findAll( const Environment* environment );
 
    public:
      IMU( agx::Frame* frame, IMUModel* model );
 
      virtual void setFrame( agx::Frame* frame ) override;
 
      virtual agx::Frame* getFrame() const override;
 
      IMUModel* getModel() const;
 
      IMUOutputHandler* getOutputHandler() const;
 
      virtual ISensorOutputHandler* getOutputHandlerBase() const override;
 
      const SensorAttachmentVector& getSensorAttachments() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronizeGraphics(const agxRender::RenderManager& renderManager) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::IMU );
 
    protected:
      IMU();
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      bool add( SensorAttachment&& sensorAttachment );
 
    private:
      agx::FrameRef m_frame;
      IMUModelRef m_model;
      SensorAttachmentVector m_sensorAttachments;
  };
}