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/**
 * Feeds Ekf with Imu data
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include "sensor.h"

namespace sensor_simulator
{
namespace sensor
{

class Imu: public Sensor
{
public:
	Imu(std::shared_ptr<Ekf> ekf);
	~Imu();

	void setData(const Vector3f& accel, const Vector3f& gyro);
	void setAccelData(const Vector3f& accel);
	void setGyroData(const Vector3f& gyro);

private:
	Vector3f _accel_data;
	Vector3f _gyro_data;

	void send(uint64_t time) override;

};

} // namespace sensor
} // namespace sensor_simulator