imu_advanced_navigation_anpp::Driver Class Reference

#include <Driver.hpp>

Inheritance diagram for imu_advanced_navigation_anpp::Driver:

Public Member Functions
	Driver ()
void	openURI (std::string const &uri)
void	setDeviceBaudrate (uint32_t rate)
bool	getUseDeviceTime () const
void	setUseDeviceTime (bool enable)
void	clearPeriodicPackets ()
void	reset (RESET_MODE mode)
DeviceInformation	readDeviceInformation ()
base::Time	readTime ()
Status	readStatus ()
CurrentConfiguration	readConfiguration ()
void	setConfiguration (Configuration const &conf)
Status	getIMUStatus () const
base::samples::RigidBodyState	getWorldRigidBodyState () const
base::samples::RigidBodyState	getBodyRigidBodyState () const
base::samples::RigidBodyAcceleration	getAcceleration () const
base::samples::IMUSensors	getIMUSensors () const
gps_base::Solution	getGNSSSolution () const
gps_base::SolutionQuality	getGNSSSolutionQuality () const
gps_base::SatelliteInfo	getGNSSSatelliteInfo () const
void	setStatusPeriod (int period)
void	setUTM (int zone, bool north, Eigen::Vector3d const &local_origin=Eigen::Vector3d::Zero())
void	setPositionPeriod (int period, bool with_errors=true)
void	setOrientationPeriod (int period, bool with_errors=true)
void	setNEDVelocityPeriod (int period, bool with_errors=true)
void	setAccelerationPeriod (int period)
void	setBodyVelocityPeriod (int period)
void	setAngularVelocityPeriod (int period)
void	setAngularAccelerationPeriod (int period)
void	setRawSensorsPeriod (int period)
void	setGNSSPeriod (int period)
void	setGNSSSatelliteSummaryPeriod (int period)
void	setGNSSSatelliteDetailsPeriod (int period)
void	setNorthSeekingInitializationStatusPeriod (int period)
void	setCurrentTimestamp (base::Time const &time)
base::Time	getCurrentTimestamp () const
int	poll ()
void	resetPollSynchronization ()

Constructor & Destructor Documentation

Driver()

Driver::Driver

(

)

Member Function Documentation

clearPeriodicPackets()

void Driver::clearPeriodicPackets

(

)

Clear all defined periodic packets

getAcceleration()

base::samples::RigidBodyAcceleration Driver::getAcceleration

(

)

const

Acceleration information

getBodyRigidBodyState()

base::samples::RigidBodyState Driver::getBodyRigidBodyState

(

)

const

Body-relative information

This contains only body-relative velocity data

getCurrentTimestamp()

base::Time Driver::getCurrentTimestamp

(

)

const

Return the current timestamp for packets read by poll()

getGNSSSatelliteInfo()

gps_base::SatelliteInfo Driver::getGNSSSatelliteInfo

(

)

const

GNSS satellite information

getGNSSSolution()

gps_base::Solution Driver::getGNSSSolution

(

)

const

GNSS solution data

getGNSSSolutionQuality()

gps_base::SolutionQuality Driver::getGNSSSolutionQuality

(

)

const

GNSS quality information

getIMUSensors()

base::samples::IMUSensors Driver::getIMUSensors

(

)

const

Raw sensor data

getIMUStatus()

Status Driver::getIMUStatus

(

)

const

The current system+filter status

getUseDeviceTime()

bool Driver::getUseDeviceTime

(

)

const

Whether timestamping is using the device's time

Use this if the device is synchronized with UTC (e.g. using a GPS-based time source

Parameters

enable

whether the driver should use the device time (true) or the local host time (false). The default is false.

getWorldRigidBodyState()

base::samples::RigidBodyState Driver::getWorldRigidBodyState

(

)

const

The NWU position

openURI()

void Driver::openURI

(

std::string const &

uri

)

poll()

int Driver::poll

(

)

Poll for periodic packets

The method determines if a "packet period" just got completed, and returns the period that has been completed if it did so.

For instance, with

setOrientationPeriod(1); setGNSSPeriod(10);

poll() will return 1 each time a full orientation-with-error has been received, and 10 when the GNSS data has been received. Note that within a given sensor cycle (i.e. same timestamp), it is possible that a period with a higher ID is returned before one with a lower ID.

Returns

the ID of the period that has just been completed. 0 means that a packet has been processed, but no period was completed. -1 means that poll() is attempting to re-synchronize with the period train.

readConfiguration()

CurrentConfiguration Driver::readConfiguration

(

)

Read the current configuration

readDeviceInformation()

DeviceInformation Driver::readDeviceInformation

(

)

Read the device information

This is mainly useful to verify that the device is connected

readStatus()

Status Driver::readStatus

(

)

Read the system and filter status

readTime()

base::Time Driver::readTime

(

)

Read the device's current time

reset()

void Driver::reset

(

RESET_MODE

mode

)

Reset the device

resetPollSynchronization()

void Driver::resetPollSynchronization

(

)

Force poll() to re-synchronize to a full period

setAccelerationPeriod()

void Driver::setAccelerationPeriod

(

int

period

)

Set the period at which the acceleration in body frame should be generated. This acceleration does not contain the acceleration of gravity

Periodic messages are processed by poll()

This updates the acceleration structure as returned by getAcceleration().

Parameters

period

the period in multiples of the base packet period

setAngularAccelerationPeriod()

void Driver::setAngularAccelerationPeriod

(

int

period

)

Set the period at which the angular accelerations in body frame should be generated.

Periodic messages are processed by poll()

This updates the acceleration structure as returned by getAcceleration();

Parameters

period

the period in multiples of the base packet period

setAngularVelocityPeriod()

void Driver::setAngularVelocityPeriod

(

int

period

)

Set the period at which the angular velocities in body frame should be generated.

Periodic messages are processed by poll()

This updates the body-relative RBS as returned by getBodyRigidBodyState();

Parameters

period

the period in multiples of the base packet period

setBodyVelocityPeriod()

void Driver::setBodyVelocityPeriod

(

int

period

)

Set the period at which the velocity in body frame should be generated.

Periodic messages are processed by poll()

This updates the body-relative RBS as returned by getBodyRigidBodyState();

Parameters

period

the period in multiples of the base packet period

setConfiguration()

void Driver::setConfiguration

(

Configuration const &

conf

)

Read the current configuration

setCurrentTimestamp()

void Driver::setCurrentTimestamp

(

base::Time const &

time

)

Set the current timestamp for packets read by poll()

Set the timestamp for the follow-up packets

This is meant for testing purposes

setDeviceBaudrate()

void Driver::setDeviceBaudrate

(

uint32_t

rate

)

Change the device's baudrate

After this call, the driver is effectively unusable. You must close it and re-open with a new URI

setGNSSPeriod()

void Driver::setGNSSPeriod

(

int

period

)

Set the period at which geodetic position should be generated

Periodic messages are processed by poll()

This updates the structure returned by getGNSSolution()

Parameters

period

the period in multiples of the base packet period

setGNSSSatelliteDetailsPeriod()

void Driver::setGNSSSatelliteDetailsPeriod

(

int

period

)

Set the period at which GNSS detailed satellite info should be generated

Periodic messages are processed by poll()

This updates the structure returned by getGNSSSatelliteDetails()

Parameters

period

the period in multiples of the base packet period

setGNSSSatelliteSummaryPeriod()

void Driver::setGNSSSatelliteSummaryPeriod

(

int

period

)

Set the period at which GNSS satellite summary should be generated

Periodic messages are processed by poll()

This updates the structure returned by getGNSSSolutionQuality()

Parameters

period

the period in multiples of the base packet period

setNEDVelocityPeriod()

void Driver::setNEDVelocityPeriod	(	int	period,
		bool	with_errors = true
	)

Set the period at which the velocity in the NED frame should be generated

Periodic messages are processed by poll()

This updates the world-relative RBS as returned by getWorldRigidBodyState().

Parameters

period

the period in multiples of the base packet period

setNorthSeekingInitializationStatusPeriod()

void Driver::setNorthSeekingInitializationStatusPeriod

(

int

period

)

Set the period at which we receive the north seeking status

It is reported in the Status structure

setOrientationPeriod()

void Driver::setOrientationPeriod	(	int	period,
		bool	with_errors = true
	)

Set the period at which the orientation should be generated

Periodic messages are processed by poll().

This updates the world-relative RBS as returned by getWorldRigidBodyState().

Parameters

period	the period in multiples of the base packet period
with_errors	if true, generate the orientation errors at the same period. Otherwise, do not generate them

setPositionPeriod()

void Driver::setPositionPeriod	(	int	period,
		bool	with_errors = true
	)

Set the period at which the position should be generated

Periodic messages are processed by poll().

This updates the world-relative RBS as returned by getWorldRigidBodyState().

You must set the UTM position and origin before calling this

Parameters

period	the period in multiples of the base packet period
with_errors	if true, generate the orientation errors at the same period. Otherwise, do not generate them

setRawSensorsPeriod()

void Driver::setRawSensorsPeriod

(

int

period

)

Set the period at which the raw sensors should be generated.

Periodic messages are processed by poll()

This updates the raw sensor structure as returned by getRawSensors()

Parameters

period

the period in multiples of the base packet period

setStatusPeriod()

void Driver::setStatusPeriod

(

int

period

)

Set the period at which the status should be updated

Periodic messages are processed by poll().

This updates the structure as returned by getStatus()

Parameters

period

the period in multiples of the base packet period

setUseDeviceTime()

void Driver::setUseDeviceTime

(

bool

enable

)

Whether timestamping should be using the device's time

Use this if the device is synchronized with UTC (e.g. using a GPS-based time source

Parameters

enable

whether the driver should use the device time (true) or the local host time (false). The default is false.

setUTM()

void Driver::setUTM	(	int	zone,
		bool	north,
		Eigen::Vector3d const &	local_origin = Eigen::Vector3d::Zero()
	)

Set the UTM zone that is used to convert the global position into a local RBS

---

The documentation for this class was generated from the following files:

• /build/rock-master-18.09-drivers-imu-advanced-navigation-anpp-0.20180904/src/Driver.hpp
• /build/rock-master-18.09-drivers-imu-advanced-navigation-anpp-0.20180904/src/Driver.cpp