#include <XsensDriver.hpp>

Public Member Functions
	XsensDriver ()

	~XsensDriver ()

bool	open (std::string const &dev)

bool	close ()

bool	setReadingMode (enum xsens_imu::imuMode=ONLY_ORI_DATA)

bool	setCalibrationMode ()

int	getFileHandle ()

enum xsens_imu::errorCodes	getReading ()

enum xsens_imu::errorCodes	getReadingNonBlocking ()

bool	setTimeout (const uint32_t timeout)

void	setFrequency (const uint16_t new_sample_frequency)

uint16_t	getFrequency (void)

int	getPacketCounter ()

Eigen::Quaternion< double >	getOrientation () const

Eigen::Vector3d	getEulerAngles () const

Eigen::Vector3d	getCalibratedAccData () const

Eigen::Vector3d	getCalibratedGyroData () const

Eigen::Vector3d	getCalibratedMagData () const

Eigen::Vector3d	getRawAccData () const

Eigen::Vector3d	getRawGyroData () const

Eigen::Vector3d	getRawMagData () const

std::list< std::string >	getScenarios () const

std::list< std::string >	getAvailableScenarios ()

bool	setScenario (std::string const &name)

bool	setSyncOut (bool enable, bool pulse, bool positive)

Static Public Attributes
static const int	DEFAULT_SAMPLE_FREQUENCY = 100

Constructor & Destructor Documentation

◆ XsensDriver()

XsensDriver::XsensDriver ( )

◆ ~XsensDriver()

XsensDriver::~XsensDriver ( )

Member Function Documentation

◆ close()

bool XsensDriver::close ( void )

◆ getAvailableScenarios()

std::list< std::string > XsensDriver::getAvailableScenarios ( )

◆ getCalibratedAccData()

Eigen::Vector3d XsensDriver::getCalibratedAccData ( ) const

Returns the calibrated accelerometer data Note getReading() should be called before calling this function

◆ getCalibratedGyroData()

Eigen::Vector3d XsensDriver::getCalibratedGyroData ( ) const

Returns the calibrated gyroscope data Note getReading() should be called before calling this function

◆ getCalibratedMagData()

Eigen::Vector3d XsensDriver::getCalibratedMagData ( ) const

Returns the calibrated magnetometer data Note getReading() should be called before calling this function

◆ getEulerAngles()

Eigen::Vector3d XsensDriver::getEulerAngles ( ) const

Returns the current orientation as Euler Angels (aerospace convention: Roll, Pitch, Yaw). Returned angles given as Tait–Bryan convention with x-Axis as heading direction: Rotation around x-Axis in YZ-Plane: Roll (Angle Phi) Rotation around y-Axis in XZ-Plane: Pitch (Angle Theta) Rotation around z-Axis in XY Plane: Yaw (Angle Psi)

Note getReading() should be called before calling this function

◆ getFileHandle()

int XsensDriver::getFileHandle ( )

◆ getFrequency()

uint16_t XsensDriver::getFrequency ( void )

Gets the sampling frequency of IMU. Returns frequency in Hz. Note: Method has to be called BEFORE setReadingMode() to apply new frequency value.

◆ getOrientation()

Eigen::Quaternion< double > XsensDriver::getOrientation ( ) const

Returns the current orientation as quaternion. Note getReading() should be called before calling this function

◆ getPacketCounter()

int XsensDriver::getPacketCounter ( )

Returns the packt count of the last received packet from the IMU

◆ getRawAccData()

Eigen::Vector3d XsensDriver::getRawAccData ( ) const

Returns the raw accelerometer data Note getReading() should be called before calling this function

◆ getRawGyroData()

Eigen::Vector3d XsensDriver::getRawGyroData ( ) const

Returns the raw gyroscope data Note getReading() should be called before calling this function

◆ getRawMagData()

Eigen::Vector3d XsensDriver::getRawMagData ( ) const

Returns the raw magnetometer data Note getReading() should be called before calling this function

◆ getReading()

enum xsens_imu::errorCodes XsensDriver::getReading ( )

This function acquires a new sensor reading from the Xsens IMU.

Return Values 0 Data Aquired -1 Timeout -2 Error fetching data from IMU

◆ getReadingNonBlocking()

enum xsens_imu::errorCodes XsensDriver::getReadingNonBlocking ( )

This function acquires a new sensor reading from the Xsens IMU.

Return Values 0 Data Aquired -1 Error_Again e.g. no reading there yet -2 Error fetching data from IMU

◆ getScenarios()

std::list<std::string> xsens_imu::XsensDriver::getScenarios ( ) const

Returns the list of scenario names that are available on this device

◆ open()

bool XsensDriver::open ( std::string const & dev )

◆ setCalibrationMode()

bool XsensDriver::setCalibrationMode ( )

◆ setFrequency()

void XsensDriver::setFrequency ( const uint16_t new_sample_frequency )

Sets the sampling frequency for reading measurements from the IMU. Parameter is in Hz Note: Method has to be called BEFORE setReadingMode() to apply new frequency value.

◆ setReadingMode()

bool XsensDriver::setReadingMode ( enum xsens_imu::imuMode output_mode = ONLY_ORI_DATA )

◆ setScenario()

bool XsensDriver::setScenario ( std::string const & name )

◆ setSyncOut()

bool XsensDriver::setSyncOut	(	bool	enable,
		bool	pulse,
		bool	positive
	)

Configures the SyncOut pin. Must be done before setReadingMode(). enable: selects enabled or disabled pulse: when true, a pulse is emitted on sensor acquisition, otherwise the level of the line is toggled. positive: direction of the pulse

◆ setTimeout()

bool XsensDriver::setTimeout ( const uint32_t timeout )

Sets the timout for reading measurements from the IMU. Parameter is in ms returns true on success

Member Data Documentation

◆ DEFAULT_SAMPLE_FREQUENCY

const int xsens_imu::XsensDriver::DEFAULT_SAMPLE_FREQUENCY = 100

static

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

/build/rock-master-18.09-drivers-xsens-imu-0.20180621/src/XsensDriver.hpp
/build/rock-master-18.09-drivers-xsens-imu-0.20180621/src/XsensDriver.cpp

Public Member Functions

Static Public Attributes