Imu.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.

 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "NodeData/IMU/ImuPos.hpp"
 
namespace NAV
{
class Imu : public Node
{
  public:
    ~Imu() override = default;
    Imu(const Imu&) = delete;
    Imu(Imu&&) = delete;
    Imu& operator=(const Imu&) = delete;
    Imu& operator=(Imu&&) = delete;

    void guiConfig() override;

    [[nodiscard]] json save() const override;

    void restore(const json& j) override;

    [[nodiscard]] const ImuPos& imuPosition() const { return _imuPos; }
 
  protected:
    explicit Imu(std::string name);

    ImuPos _imuPos;
};
 
} // namespace NAV