/home/travis/build/lis-epfl/MAVRIC_Library/simulation/gyroscope_sim.hpp

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/*******************************************************************************
 * \file gyroscope_sim.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Simulated gyroscopes
 *
 ******************************************************************************/


#ifndef GYROSCOPE_SIM_HPP_
#define GYROSCOPE_SIM_HPP_


#include <array>

#include "simulation/dynamic_model.hpp"

class Gyroscope_sim: public Gyroscope
{
public:
    Gyroscope_sim(Dynamic_model& dynamic_model);


    bool init(void);


    bool update(void);


    const float& last_update_us(void) const;


    const std::array<float, 3>& gyro(void) const;


    const float& gyro_X(void) const;


    const float& gyro_Y(void) const;


    const float& gyro_Z(void) const;


    const float& temperature(void) const;


private:
    Dynamic_model&      dynamic_model_;     

    std::array<float, 3> rates_;                
    float               temperature_;       
};


#endif /* GYROSCOPE_SIM_HPP_ */