GimbalLockMonitor.h

//-*-C++-*-
/***************************************************************************
 *
 *   Copyright (C) 2007 by Willem van Straten
 *   Licensed under the Academic Free License version 2.1
 *
 ***************************************************************************/
 
// psrchive/More/MEAL/MEAL/GimbalLockMonitor.h
 
#ifndef __Pulsar_GimbalLockMonitor_h
#define __Pulsar_GimbalLockMonitor_h
 
#include "MEAL/Rotation1.h"
 
namespace MEAL {

  class GimbalLockMonitor : public Reference::Able {
 
  public:

    GimbalLockMonitor ();

    void set_yaw (Rotation1*);

    void set_pitch (Rotation1*);

    void set_roll (Rotation1*);

    void set_pitch_limits (double lower, double upper);

    bool lock_detected ();
 
  protected:

    Reference::To<Rotation1> yaw;

    Reference::To<Rotation1> pitch;

    Reference::To<Rotation1> roll;

    bool gimbal_lock_detected;
 
    double lower_pitch_limit, upper_pitch_limit;
    double lower_yaw_limit, upper_yaw_limit;
  };
 
}
 
#endif