/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/
#ifndef HEADTRACKER_H
#define HEADTRACKER_H
#include <cstdio>
#include <stdio.h>
#include <iostream>
#include "ConfigOptions.h"
#include <XIMU.h>

using namespace std;

class HeadTracker{
public:
	HeadTracker(ConfigOptions *c);
	imu_data_t get_euler_angles();
	void set_zero_rot();
	
private:
	bool datasource_is_file;
	bool read_dump(string filename);
	
	ConfigOptions *cfg;
	XIMU *ximu;

	imu_data_vector_t imu_data_vector;
};

#endif