Gyro.h

#pragma once
#include <frc/geometry/Rotation3d.h>
#include <units/acceleration.h>
#include <units/angular_velocity.h>
 
#include "valkyrie/util/eigenunit/UnitVector.h"
 
namespace valor {
 
namespace gyro {
 
class Gyro {
   public:
    using AngularVelocity3d = EigenUnit::UnitVector<units::radians_per_second, units::radians_per_second, units::radians_per_second>;
    using Acceleration3d =
        EigenUnit::UnitVector<units::meters_per_second_squared, units::meters_per_second_squared, units::meters_per_second_squared>;
 
    virtual frc::Rotation3d GetRotation() = 0;
 
    virtual AngularVelocity3d GetAngularVelocity() = 0;
 
    virtual Acceleration3d GetAcceleration() = 0;
};
 
}  // namespace gyro
 
}  // namespace valor