//----------------------------------------------------------
// Module QuaternionT1
//----------------------------------------------------------
#ifndef __orc_Mod_QuaternionT1_h
#define __orc_Mod_QuaternionT1_h

#include "Exec/mt.h"
#include "Exec/rt.h"
#include "Exec/module.h"

#include "module_QuaternionT1_Inc.h"

class orc_RT_X4_Diags_T1;

class orc_Mod_QuaternionT1: public ModuleAlgo { 
protected: 
	// Internal Variables 
// Orccad Version: 3.2
// Module : QuaternionT1
// Variables declaration File
// Date of creation : Thu Oct  2 09:30:18 2008
  double q_hat[4], vel_hat[3], DtQ;
  int cpt;
 orc_RT_X4_Diags_T1 *pRT;

public: 
	orc_Mod_QuaternionT1(ModuleTask *mt,double period):
	  ModuleAlgo("orc_Mod_QuaternionT1",mt,period) {};
	~orc_Mod_QuaternionT1() {};
	 // Output Ports declaration
	 double QO[7];
	 // Output Event Ports declaration
	 // Output param Ports declaration

	 // Methods of computation 
	 void init(const double AccI[3], const double MagI[3], const double GyroI[3], const double VrelI[3], const int &Sensor_RecoverI); 
	 void param(); 
	 void reparam(); 
	 void compute(const double AccI[3], const double MagI[3], const double GyroI[3], const double VrelI[3], const int &Sensor_RecoverI ); 
	 void end(); 
 }; 
#endif 
// End class  orc_Mod_QuaternionT1