From 13ec4b780d5de6a7e4688eef0599893544319ac1 Mon Sep 17 00:00:00 2001
From: Hugo Pezziardi <hugo@pezziardi.net>
Date: Mon, 6 Mar 2023 09:47:13 +0100
Subject: [PATCH] :building_construction: ((interface)): Add IMUKit interface

---
 include/interface/libs/IMUKit.hpp | 36 +++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 include/interface/libs/IMUKit.hpp

diff --git a/include/interface/libs/IMUKit.hpp b/include/interface/libs/IMUKit.hpp
new file mode 100644
index 0000000000..4d2f80459b
--- /dev/null
+++ b/include/interface/libs/IMUKit.hpp
@@ -0,0 +1,36 @@
+// Leka - LekaOS
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <functional>
+
+namespace leka {
+
+struct EulerAngles {
+	float pitch;
+	float roll;
+	float yaw;
+};
+
+namespace interface {
+
+	class IMUKit
+	{
+	  public:
+		using angles_ready_callback_t = std::function<void(const EulerAngles &)>;
+
+		virtual ~IMUKit() = default;
+
+		virtual void start() = 0;
+		virtual void stop()	 = 0;
+
+		virtual void setOrigin()												 = 0;
+		virtual void onEulerAnglesReady(angles_ready_callback_t const &callback) = 0;
+		[[nodiscard]] virtual auto getEulerAngles() const -> EulerAngles		 = 0;
+	};
+
+}	// namespace interface
+
+}	// namespace leka