IObserverState.hpp

#pragma once
#include "../imu/ImuData.hpp"
#include "DiveTime.hpp"
#include "StateEstimates.hpp"
 
namespace blunux::observer {
 
class IObserverState {
 public:
  virtual Eigen::Vector3d getGlobalAttitudeEuler() const = 0;
 
  virtual double getGlobalHeading() const = 0;
 
  virtual Eigen::Vector3d getLocalAttitudeEuler() const = 0;
 
  virtual Eigen::Vector3d getLocalOrientationAxis() const = 0;
 
  virtual Eigen::Vector3d getGlobalalOrientationAxis() const = 0;
 
  virtual StateEstimates getStateEstimates() const = 0;
 
  virtual void add_imu_callback(
      std::function<void(const imu::ImuData&)> cb) = 0;
  virtual void add_dive_state_callback(
      std::function<void(const DiveStatus&)> cb) = 0;
  virtual void add_dive_time_callback(
      std::function<void(const uint16_t&)> cb) = 0;
 
  virtual void clear_callbacks() = 0;
 
  virtual Eigen::Vector3d getAccData(int num) const = 0;
 
  virtual InitialMotionState getInitialMotionState() const = 0;
 
  virtual bool isCompassFullCalibrationValid() const = 0;
};
}  // namespace blunux::observer