added MetaWear Interface

source/RobotAPI/interface/CMakeLists.txt

@@ -37,6 +37,7 @@ set(SLICE_FILES
     units/UnitInterface.ice
     units/ATINetFTUnit.ice
     units/OrientedTactileSensorUnit.ice
+    units/MetaWearIMUInterface.ice
 
     components/ViewSelectionInterface.ice
 

source/RobotAPI/interface/units/MetaWearIMUInterface.ice

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI
+ * @author     Martin Do ( martin dot do at kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
+
+#include <RobotAPI/interface/core/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
+module armarx
+{
+    struct MetaWearIMUData {
+        Ice::FloatSeq orientationQuaternion;
+        Ice::FloatSeq magnetic;
+        Ice::FloatSeq gyro;
+        Ice::FloatSeq acceleration;
+    };
+
+    interface MetaWearIMU
+    {
+        void reportIMUValues(string name, MetaWearIMUData data);
+    };
+};
+
+#endif