ImuData.hpp

#pragma once
#include "../utils/eigen_formatters.hpp"
#include "Eigen/Geometry"
 
namespace blunux::imu {
 
struct ImuData {
  Eigen::Vector3d acc = Eigen::Vector3d::Zero();
  Eigen::Vector3d gyro = Eigen::Vector3d::Zero();
  Eigen::Vector3d mag = Eigen::Vector3d::Zero();
  float temp{};
};
 
}  // namespace blunux::imu
 
template <>
struct fmt::formatter<blunux::imu::ImuData> {
  template <typename ParseContext>
  // NOLINTNEXTLINE(runtime/references)
  constexpr auto parse(ParseContext& ctx) {
    return ctx.begin();
  }
 
  template <typename FormatContext>
  // NOLINTNEXTLINE(runtime/references)
  auto format(blunux::imu::ImuData const& data, FormatContext& ctx) const {
    return fmt::format_to(ctx.out(),
                          "acc: (x: {:.3f} y: {:.3f} z: {:.3f}) "
                          "gyro: (x: {:.3f} y: {:.3f} z: {:.3f}) "
                          "mag: (x: {:.3f} y: {:.3f} z: {:.3f})",
                          data.acc.x(), data.acc.y(), data.acc.z(),
                          data.gyro.x(), data.gyro.y(), data.gyro.z(),
                          data.mag.x(), data.mag.y(), data.mag.z());
  }
};
 
inline std::ostream& operator<<(std::ostream& os, blunux::imu::ImuData data) {
  return os << fmt::format("{}", data);
}