// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#ifndef INERTIAL_UNIT_HPP

#define INERTIAL_UNIT_HPP

#include <webots/Device.hpp>

namespace webots {

class InertialUnit : public Device {

public:

explicit InertialUnit(const std::string &name) : Device(name) {} // Use Robot::getInertialUnit() instead

virtual ~InertialUnit() {}

virtual void enable(int samplingPeriod);

virtual void disable();

int getSamplingPeriod() const;

const double *getRollPitchYaw() const;

const double *getQuaternion() const;

double getNoise() const;

};

} // namespace webots

#endif // INERTIAL_UNIT_HPP