/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : MtiOutput.h                                                   */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 09/01/2006                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
/*-----------------------------------------------------------------------*
  CLASS: MtiOutput

  DESCRIPTION: Shared mem for MTi Motion Sensor

  AUTHOR: dorado

 *-----------------------------------------------------------------------*/

#ifndef _MTIOUTPUT_H
#define _MTIOUTPUT_H

#include <time.h>
#include "SharedData.h"
#include "DeviceIF.h"
#include "TimeIF.h"

#define MtiOutputName "MtiOutput"

class MtiOutput: public SharedData {

public:
  struct Data {
    float accX;
    float accY;
    float accZ;

    float gyrX;
    float gyrY;
    float gyrZ;

    float magX;
    float magY;
    float magZ;

    float quat0;
    float quat1;
    float quat2;
    float quat3;
  };

  MtiOutput( Access access = NoAccess,
		  Boolean init = False );

  ~MtiOutput();

  Data data;

  void read();
  void write();
};

#endif