IMU.java

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package com.neuronrobotics.sdk.addons.kinematics.imu;
 
import java.util.ArrayList;
 
public class IMU {
    private ArrayList<IMUUpdateListener> virtualListeneras = new ArrayList<IMUUpdateListener>();
    private ArrayList<IMUUpdateListener> hardwareListeneras = new ArrayList<IMUUpdateListener>();
    
    private IMUUpdate virtualState=new IMUUpdate(0.0,0.0,0.0,0.0,0.0,0.0);
    private IMUUpdate hardwareState=new IMUUpdate(null,null,null,null,null,null);
    
    public void addhardwareListeners(IMUUpdateListener l){
        if(!hardwareListeneras.contains(l))
            hardwareListeneras.add(l);
    }
    public void addvirtualListeners(IMUUpdateListener l){
        if(!virtualListeneras.contains(l))
            virtualListeneras.add(l);
    }
    
    public void removehardwareListeners(IMUUpdateListener l){
        if(hardwareListeneras.contains(l))
            hardwareListeneras.remove(l);
    }
    public void removevirtualListeners(IMUUpdateListener l){
        if(virtualListeneras.contains(l))
            virtualListeneras.remove(l);
    }
    public void clearhardwareListeners(){
 
            hardwareListeneras.clear();;
    }
    public void clearvirtualListeners(){
    
            virtualListeneras.clear();
    }
    public IMUUpdate getVirtualState() {
        
        return virtualState;
    }
    public void setVirtualState(IMUUpdate virtualState) {
        this.virtualState = virtualState;
        for(int i=0;i<virtualListeneras.size();i++){
            virtualListeneras.get(i).onIMUUpdate(virtualState);
        }
    }
    public IMUUpdate getHardwareState() {
        
        return hardwareState;
    }
    public void setHardwareState(IMUUpdate hardwareState) {
        this.hardwareState = hardwareState;
        for(int i=0;i<hardwareListeneras.size();i++){
            hardwareListeneras.get(i).onIMUUpdate(hardwareState);
        }
    }
    
    
 
}