/home/toby/moos-ivp/MOOS-2375-Oct0611/Instruments/Ocean/iCompass/CompassInstrument.h

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//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Instrument. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program is distributed in the hope that it will be useful, 
//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
// CompassInstrument.h: interface for the CCompassInstrument class.
//

#if !defined(AFX_COMPASSINSTRUMENT_H__53E4AD34_8800_4CE0_ACB8_57D05208E1CB__INCLUDED_)
#define AFX_COMPASSINSTRUMENT_H__53E4AD34_8800_4CE0_ACB8_57D05208E1CB__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

class CCompassInstrument : public CMOOSInstrument  
{
public:
    CCompassInstrument();
    virtual ~CCompassInstrument();

    bool Iterate();
    bool OnNewMail(MOOSMSG_LIST &NewMail);
    bool OnConnectToServer();
    bool OnStartUp();    


protected:
    bool UpdateWithMagneticDegrees(double dfMagDegrees);
    double True2Yaw(double dfTrueHeading);
    double Magnetic2True(double dfMagnetic);
    bool ParseCompassData(std::string & sWhat);
    bool InitialiseSensor();
    bool GetData();
    bool PublishData();


};

#endif // !defined(AFX_COMPASSINSTRUMENT_H__53E4AD34_8800_4CE0_ACB8_57D05208E1CB__INCLUDED_)