text: // Copyright 1996-2019 Cyberbotics Ltd.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  /*******************************************************************************************************/
  /* Description:  Wrapper of the Accelerometer Webots API for the ROBOTIS OP2 real robot                  */
  /*******************************************************************************************************/
  
  #ifndef ACCELEROMETER_HPP
  #define ACCELEROMETER_HPP
  
  #include <webots/Device.hpp>
  #include <webots/Robot.hpp>
  
  namespace webots {
    class Accelerometer : public Device {
    public:
      Accelerometer(const std::string &name);  // Use Robot::getAccelerometer() instead
      virtual ~Accelerometer();
  
      virtual void enable(int samplingPeriod);
      virtual void disable();
  
      const double *getValues() const;
      int getSamplingPeriod() const;
  
    private:
      double mValues[3];
      void setValues(const int *integerValues);
  
      friend int Robot::step(int duration);
    };
  }  // namespace webots
  
  #endif  // ACCELEROMETER_HPP
  