4 * Copyright (c) 2015 Samsung Electronics Co., Ltd.
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
20 #ifndef _FUSION_SENSOR_H_
21 #define _FUSION_SENSOR_H_
23 #include <sensor_internal.h>
24 #include <virtual_sensor.h>
25 #include <orientation_filter.h>
27 class fusion_sensor : public virtual_sensor {
30 virtual ~fusion_sensor();
34 void synthesize(const sensor_event_t &event, vector<sensor_event_t> &outs);
36 bool add_interval(int client_id, unsigned int interval);
37 bool delete_interval(int client_id);
38 virtual bool get_properties(sensor_type_t sensor_type, sensor_properties_s &properties);
39 virtual void get_types(std::vector<sensor_type_t> &types);
41 int get_sensor_data(const unsigned int data_id, sensor_data_t &data);
44 sensor_base *m_accel_sensor;
45 sensor_base *m_gyro_sensor;
46 sensor_base *m_magnetic_sensor;
48 sensor_data<float> m_accel;
49 sensor_data<float> m_gyro;
50 sensor_data<float> m_magnetic;
52 sensor_data<float> *m_accel_ptr;
53 sensor_data<float> *m_gyro_ptr;
54 sensor_data<float> *m_magnetic_ptr;
58 orientation_filter<float> m_orientation_filter;
59 orientation_filter<float> m_orientation_filter_poll;
61 unsigned int m_enable_fusion;
63 unsigned long long m_time;
64 unsigned int m_interval;
67 std::string m_raw_data_unit;
68 int m_default_sampling_time;
69 float m_accel_static_bias[3];
70 float m_gyro_static_bias[3];
71 float m_geomagnetic_static_bias[3];
72 int m_accel_rotation_direction_compensation[3];
73 int m_gyro_rotation_direction_compensation[3];
74 int m_geomagnetic_rotation_direction_compensation[3];
75 int m_magnetic_alignment_factor;