|
xsens_imu
|
A structure containing MT data + timestamp and formatting information. More...
#include <cmtpacket.h>
Classes | |
| struct | PacketInfo |
| Contains information about data in the packet and the format of that data. More... | |
Public Member Functions | |
| Packet (uint16_t items, bool xbus) | |
| Packet (const Packet &pack) | |
| ~Packet () | |
| void | operator= (const Packet &pack) |
| bool | setDataFormat (const CmtDataFormat &format, const uint16_t index=0) |
| bool | setDataFormat (const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index=0) |
| CmtDataFormat | getDataFormat (const uint16_t index=0) const |
| void | setXbus (bool xbus, bool convert=false) |
| bool | getXbus (void) const |
| uint16_t | getDataSize (const uint16_t index=0) const |
| Return the data size. More... | |
| uint16_t | getFPValueSize (const uint16_t index) const |
| Return the floating/fixed point value size. More... | |
| CmtShortVector | getRawAcc (const uint16_t index=0) const |
| Return the Raw Accelerometer component of a data item. More... | |
| bool | containsRawAcc (const uint16_t index=0) const |
| Check if data item contains Raw Accelerometer data. More... | |
| bool | updateRawAcc (const CmtShortVector &vec, const uint16_t index=0) |
| Add/update Raw Accelerometer data for the item. More... | |
| CmtShortVector | getRawGyr (const uint16_t index=0) const |
| Return the Raw Gyroscope component of a data item. More... | |
| bool | containsRawGyr (const uint16_t index=0) const |
| Check if data item contains Raw Gyroscope data. More... | |
| bool | updateRawGyr (const CmtShortVector &vec, const uint16_t index=0) |
| Add/update Raw Gyroscope data for the item. More... | |
| CmtShortVector | getRawMag (const uint16_t index=0) const |
| Return the Raw Magnetometer component of a data item. More... | |
| bool | containsRawMag (const uint16_t index=0) const |
| Check if data item contains Raw Magnetometer data. More... | |
| bool | updateRawMag (const CmtShortVector &vec, const uint16_t index=0) |
| Add/update Raw Magnetometer data for the item. More... | |
| uint16_t | getRawTemp (const uint16_t index=0) const |
| Return the Raw Temperature component of a data item. More... | |
| bool | containsRawTemp (const uint16_t index=0) const |
| Check if data item contains Raw Temperature data. More... | |
| bool | updateRawTemp (uint16_t temp, const uint16_t index=0) |
| Add/update Raw Temperature data for the item. More... | |
| CmtRawData | getRawData (const uint16_t index=0) const |
| Return the Raw Data component of a data item. More... | |
| bool | containsRawData (const uint16_t index=0) const |
| Check if data item contains Raw Data. More... | |
| bool | updateRawData (const CmtRawData &data, const uint16_t index=0) |
| Add/update Raw Data for the item. More... | |
| CmtGpsPvtData | getGpsPvtData (const uint16_t index=0) const |
| Return the Gps PVT data component of a data item. More... | |
| bool | containsGpsPvtData (const uint16_t index=0) const |
| Check if data item contains Gps PVT Data. More... | |
| bool | updateGpsPvtData (const CmtGpsPvtData &data, const uint16_t index=0) |
| Add/update Gps PVT Data for the item. More... | |
| CmtRawPressureData | getRawPressureData (const uint16_t index=0) const |
| Return the Raw Pressure Data component of a data item. More... | |
| bool | containsRawPressureData (const uint16_t index=0) const |
| Check if data item contains Raw Pressure Data. More... | |
| bool | updateRawPressureData (const CmtRawPressureData &data, const uint16_t index=0) |
| Add/update Raw Pressure Data for the item. More... | |
| double | getTemp (const uint16_t index=0) const |
| Return the Temperature component of a data item. More... | |
| bool | containsTemp (const uint16_t index=0) const |
| Check if data item contains Temperature data. More... | |
| bool | updateTemp (const double &temp, const uint16_t index=0) |
| Add/update Calibrated Accelerometer data for the item. More... | |
| CmtVector | getCalAcc (const uint16_t index=0) const |
| Return the Calibrated Accelerometer component of a data item. More... | |
| bool | containsCalAcc (const uint16_t index=0) const |
| Check if data item contains Calibrated Accelerometer data. More... | |
| bool | updateCalAcc (const CmtVector &vec, const uint16_t index=0) |
| Add/update Calibrated Accelerometer data for the item. More... | |
| CmtVector | getCalGyr (const uint16_t index=0) const |
| Return the Calibrated Gyroscope component of a data item. More... | |
| bool | containsCalGyr (const uint16_t index=0) const |
| Check if data item contains Calibrated Gyroscope data. More... | |
| bool | updateCalGyr (const CmtVector &vec, const uint16_t index=0) |
| Add/update Calibrated Gyroscope data for the item. More... | |
| CmtVector | getCalMag (const uint16_t index=0) const |
| Return the Calibrated Magnetometer component of a data item. More... | |
| bool | containsCalMag (const uint16_t index=0) const |
| Check if data item contains Calibrated Magnetometer data. More... | |
| bool | updateCalMag (const CmtVector &vec, const uint16_t index=0) |
| Add/update Calibrated Magnetometer data for the item. More... | |
| CmtCalData | getCalData (const uint16_t index=0) const |
| Return the Calibrated Data component of a data item. More... | |
| bool | containsCalData (const uint16_t index=0) const |
| Check if data item contains Calibrated Data. More... | |
| bool | updateCalData (const CmtCalData &data, const uint16_t index=0) |
| Add/update Calibrated Data for the item. More... | |
| CmtQuat | getOriQuat (const uint16_t index=0) const |
| Return the Orientation component of a data item as a Quaternion. More... | |
| bool | containsOriQuat (const uint16_t index=0) const |
| Check if data item contains Quaternion Orientation data. More... | |
| bool | updateOriQuat (const CmtQuat &data, const uint16_t index=0) |
| Add/update Quaternion Orientation data for the item. More... | |
| CmtEuler | getOriEuler (const uint16_t index=0) const |
| Return the Orientation component of a data item as Euler angles. More... | |
| bool | containsOriEuler (const uint16_t index=0) const |
| Check if data item contains Euler Orientation data. More... | |
| bool | updateOriEuler (const CmtEuler &data, const uint16_t index=0) |
| Add/update Euler Orientation data for the item. More... | |
| CmtMatrix | getOriMatrix (const uint16_t index=0) const |
| Return the Orientation component of a data item as an Orientation Matrix. More... | |
| bool | containsOriMatrix (const uint16_t index=0) const |
| Check if data item contains Matrix Orientation data. More... | |
| bool | updateOriMatrix (const CmtMatrix &data, const uint16_t index=0) |
| Add/update Matrix Orientation data for the item. More... | |
| bool | containsOri (const uint16_t index=0) const |
| Check if data item contains Orientation Data of any kind. More... | |
| CmtAnalogInData | getAnalogIn1 (const uint16_t index=0) const |
| Return the AnalogIn 1 component of a data item. More... | |
| bool | containsAnalogIn1 (const uint16_t index=0) const |
| Check if data item contains AnalogIn 1. More... | |
| bool | updateAnalogIn1 (const CmtAnalogInData &data, const uint16_t index=0) |
| Add/update AnalogIn 1 for the item. More... | |
| CmtAnalogInData | getAnalogIn2 (const uint16_t index=0) const |
| Return the AnalogIn 2 component of a data item. More... | |
| bool | containsAnalogIn2 (const uint16_t index=0) const |
| Check if data item contains AnalogIn 2. More... | |
| bool | updateAnalogIn2 (const CmtAnalogInData &data, const uint16_t index=0) |
| Add/update AnalogIn 2 for the item. More... | |
| CmtVector | getPositionLLA (const uint16_t index=0) const |
| Return the Position Lat Lon Alt component of a data item. More... | |
| bool | containsPositionLLA (const uint16_t index=0) const |
| Check if data item contains Position Lat Lon Alt. More... | |
| bool | updatePositionLLA (const CmtVector &data, const uint16_t index=0) |
| Add/update Position Lat Lon Alt for the item. More... | |
| CmtVector | getVelocity (const uint16_t index=0) const |
| Return the Velocity component of a data item. More... | |
| bool | containsVelocity (const uint16_t index=0) const |
| Check if data item contains Velocity. More... | |
| bool | updateVelocity (const CmtVector &data, const uint16_t index=0) |
| Add/update Velocity for the item. More... | |
| uint8_t | getStatus (const uint16_t index=0) const |
| Return the Status component of a data item. More... | |
| bool | containsStatus (const uint16_t index=0) const |
| Check if data item contains Status. More... | |
| bool | updateStatus (const uint8_t data, const uint16_t index=0) |
| Add/update Status information for the item. More... | |
| uint16_t | getSampleCounter (const uint16_t index=0) const |
| Return the Sample Counter component of the packet. More... | |
| bool | containsSampleCounter (const uint16_t index=0) const |
| Check if data item contains Sample Counter. More... | |
| bool | updateSampleCounter (const uint16_t counter, const uint16_t index=0) |
| Add/update Sample Counter for all items. More... | |
| CmtUtcTime | getUtcTime (const uint16_t index=0) const |
| Return the UTC Time component of the packet. More... | |
| bool | containsUtcTime (const uint16_t index=0) const |
| Check if data item contains UTC Time. More... | |
| bool | updateUtcTime (const CmtUtcTime &data, const uint16_t index=0) |
| Add/update UTC Time for all items. More... | |
| CmtTimeStamp | getRtc (const uint16_t index=0) const |
| Return the RTC of the packet. More... | |
| CmtVector | getAccG (const uint16_t index=0) const |
| Return the XKF-3 Acc-G component of the packet. More... | |
| bool | containsAccG (const uint16_t index=0) const |
| Check if data item contains XKF-3 Acc-G data. More... | |
| bool | updateAccG (const CmtVector &g, const uint16_t index=0) |
| Add/update XKF-3 Acc-G data for the item. More... | |
Public Attributes | |
| uint16_t | m_itemCount |
| The number of data items in the message. More... | |
| Message | m_msg |
| The message. More... | |
| TimeStamp | m_rtc |
| Sample time in ms, based on the sample counter. More... | |
| TimeStamp | m_toa |
| Time of arrival. More... | |
Protected Attributes | |
| struct xsens::Packet::PacketInfo * | m_infoList |
| CmtDataFormat * | m_formatList |
| A list of the formats of the data items. More... | |
| bool | m_xm |
| Indicates that xbus-formatting is used. More... | |
Friends | |
| class | Cmt4 |
A structure containing MT data + timestamp and formatting information.
| xsens::Packet::Packet | ( | uint16_t | items, |
| bool | xbus | ||
| ) |
| xsens::Packet::Packet | ( | const Packet & | pack | ) |
| xsens::Packet::~Packet | ( | ) |
| bool xsens::Packet::containsAccG | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains XKF-3 Acc-G data.
| bool xsens::Packet::containsAnalogIn1 | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains AnalogIn 1.
| bool xsens::Packet::containsAnalogIn2 | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains AnalogIn 2.
| bool xsens::Packet::containsCalAcc | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Calibrated Accelerometer data.
| bool xsens::Packet::containsCalData | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Calibrated Data.
| bool xsens::Packet::containsCalGyr | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Calibrated Gyroscope data.
| bool xsens::Packet::containsCalMag | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Calibrated Magnetometer data.
| bool xsens::Packet::containsGpsPvtData | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Gps PVT Data.
| bool xsens::Packet::containsOri | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Orientation Data of any kind.
| bool xsens::Packet::containsOriEuler | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Euler Orientation data.
| bool xsens::Packet::containsOriMatrix | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Matrix Orientation data.
| bool xsens::Packet::containsOriQuat | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Quaternion Orientation data.
| bool xsens::Packet::containsPositionLLA | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Position Lat Lon Alt.
| bool xsens::Packet::containsRawAcc | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Accelerometer data.
| bool xsens::Packet::containsRawData | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Data.
| bool xsens::Packet::containsRawGyr | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Gyroscope data.
| bool xsens::Packet::containsRawMag | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Magnetometer data.
| bool xsens::Packet::containsRawPressureData | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Pressure Data.
| bool xsens::Packet::containsRawTemp | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Raw Temperature data.
| bool xsens::Packet::containsSampleCounter | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Sample Counter.
| bool xsens::Packet::containsStatus | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Status.
| bool xsens::Packet::containsTemp | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Temperature data.
| bool xsens::Packet::containsUtcTime | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains UTC Time.
| bool xsens::Packet::containsVelocity | ( | const uint16_t | index = 0 | ) | const |
Check if data item contains Velocity.
| CmtVector xsens::Packet::getAccG | ( | const uint16_t | index = 0 | ) | const |
Return the XKF-3 Acc-G component of the packet.
| index | The index of the item of which the data should be returned. |
| CmtAnalogInData xsens::Packet::getAnalogIn1 | ( | const uint16_t | index = 0 | ) | const |
Return the AnalogIn 1 component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtAnalogInData xsens::Packet::getAnalogIn2 | ( | const uint16_t | index = 0 | ) | const |
Return the AnalogIn 2 component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtVector xsens::Packet::getCalAcc | ( | const uint16_t | index = 0 | ) | const |
Return the Calibrated Accelerometer component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtCalData xsens::Packet::getCalData | ( | const uint16_t | index = 0 | ) | const |
Return the Calibrated Data component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtVector xsens::Packet::getCalGyr | ( | const uint16_t | index = 0 | ) | const |
Return the Calibrated Gyroscope component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtVector xsens::Packet::getCalMag | ( | const uint16_t | index = 0 | ) | const |
Return the Calibrated Magnetometer component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtDataFormat xsens::Packet::getDataFormat | ( | const uint16_t | index = 0 | ) | const |
| uint16_t xsens::Packet::getDataSize | ( | const uint16_t | index = 0 | ) | const |
Return the data size.
| index | The index of the item of which the size should be returned. |
| uint16_t xsens::Packet::getFPValueSize | ( | const uint16_t | index | ) | const |
Return the floating/fixed point value size.
| index | The index of the item whose fp size should be returned. |
| CmtGpsPvtData xsens::Packet::getGpsPvtData | ( | const uint16_t | index = 0 | ) | const |
Return the Gps PVT data component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtEuler xsens::Packet::getOriEuler | ( | const uint16_t | index = 0 | ) | const |
Return the Orientation component of a data item as Euler angles.
| index | The index of the item of which the data should be returned. |
| CmtMatrix xsens::Packet::getOriMatrix | ( | const uint16_t | index = 0 | ) | const |
Return the Orientation component of a data item as an Orientation Matrix.
| index | The index of the item of which the data should be returned. |
| CmtQuat xsens::Packet::getOriQuat | ( | const uint16_t | index = 0 | ) | const |
Return the Orientation component of a data item as a Quaternion.
| index | The index of the item of which the data should be returned. |
| CmtVector xsens::Packet::getPositionLLA | ( | const uint16_t | index = 0 | ) | const |
Return the Position Lat Lon Alt component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtShortVector xsens::Packet::getRawAcc | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Accelerometer component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtRawData xsens::Packet::getRawData | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Data component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtShortVector xsens::Packet::getRawGyr | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Gyroscope component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtShortVector xsens::Packet::getRawMag | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Magnetometer component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtRawPressureData xsens::Packet::getRawPressureData | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Pressure Data component of a data item.
| index | The index of the item of which the data should be returned. |
| uint16_t xsens::Packet::getRawTemp | ( | const uint16_t | index = 0 | ) | const |
Return the Raw Temperature component of a data item.
| index | The index of the item of which the data should be returned. |
| TimeStamp xsens::Packet::getRtc | ( | const uint16_t | index = 0 | ) | const |
Return the RTC of the packet.
| index | The index of the item of which the data should be returned. (ignored) |
| uint16_t xsens::Packet::getSampleCounter | ( | const uint16_t | index = 0 | ) | const |
Return the Sample Counter component of the packet.
| index | The index of the item of which the data should be returned. (ignored) |
| uint8_t xsens::Packet::getStatus | ( | const uint16_t | index = 0 | ) | const |
Return the Status component of a data item.
| index | The index of the item of which the data should be returned. |
| double xsens::Packet::getTemp | ( | const uint16_t | index = 0 | ) | const |
Return the Temperature component of a data item.
| index | The index of the item of which the data should be returned. |
| CmtUtcTime xsens::Packet::getUtcTime | ( | const uint16_t | index = 0 | ) | const |
Return the UTC Time component of the packet.
| index | The index of the item of which the data should be returned. (ignored) |
| CmtVector xsens::Packet::getVelocity | ( | const uint16_t | index = 0 | ) | const |
Return the Velocity component of a data item.
| index | The index of the item of which the data should be returned. |
| bool xsens::Packet::getXbus | ( | void | ) | const |
| void xsens::Packet::operator= | ( | const Packet & | pack | ) |
| bool xsens::Packet::setDataFormat | ( | const CmtDataFormat & | format, |
| const uint16_t | index = 0 |
||
| ) |
| bool xsens::Packet::setDataFormat | ( | const CmtOutputMode | outputMode, |
| const CmtOutputSettings | outputSettings, | ||
| const uint16_t | index = 0 |
||
| ) |
| void xsens::Packet::setXbus | ( | bool | xbus, |
| bool | convert = false |
||
| ) |
| bool xsens::Packet::updateAccG | ( | const CmtVector & | g, |
| const uint16_t | index = 0 |
||
| ) |
Add/update XKF-3 Acc-G data for the item.
| bool xsens::Packet::updateAnalogIn1 | ( | const CmtAnalogInData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update AnalogIn 1 for the item.
| bool xsens::Packet::updateAnalogIn2 | ( | const CmtAnalogInData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update AnalogIn 2 for the item.
| bool xsens::Packet::updateCalAcc | ( | const CmtVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Calibrated Accelerometer data for the item.
| bool xsens::Packet::updateCalData | ( | const CmtCalData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Calibrated Data for the item.
| bool xsens::Packet::updateCalGyr | ( | const CmtVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Calibrated Gyroscope data for the item.
| bool xsens::Packet::updateCalMag | ( | const CmtVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Calibrated Magnetometer data for the item.
| bool xsens::Packet::updateGpsPvtData | ( | const CmtGpsPvtData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Gps PVT Data for the item.
| bool xsens::Packet::updateOriEuler | ( | const CmtEuler & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Euler Orientation data for the item.
| bool xsens::Packet::updateOriMatrix | ( | const CmtMatrix & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Matrix Orientation data for the item.
| bool xsens::Packet::updateOriQuat | ( | const CmtQuat & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Quaternion Orientation data for the item.
| bool xsens::Packet::updatePositionLLA | ( | const CmtVector & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Position Lat Lon Alt for the item.
| bool xsens::Packet::updateRawAcc | ( | const CmtShortVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Accelerometer data for the item.
| bool xsens::Packet::updateRawData | ( | const CmtRawData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Data for the item.
| bool xsens::Packet::updateRawGyr | ( | const CmtShortVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Gyroscope data for the item.
| bool xsens::Packet::updateRawMag | ( | const CmtShortVector & | vec, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Magnetometer data for the item.
| bool xsens::Packet::updateRawPressureData | ( | const CmtRawPressureData & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Pressure Data for the item.
| bool xsens::Packet::updateRawTemp | ( | uint16_t | temp, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Raw Temperature data for the item.
| bool xsens::Packet::updateSampleCounter | ( | const uint16_t | counter, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Sample Counter for all items.
| bool xsens::Packet::updateStatus | ( | const uint8_t | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Status information for the item.
| bool xsens::Packet::updateTemp | ( | const double & | temp, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Calibrated Accelerometer data for the item.
| bool xsens::Packet::updateUtcTime | ( | const CmtUtcTime & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update UTC Time for all items.
| bool xsens::Packet::updateVelocity | ( | const CmtVector & | data, |
| const uint16_t | index = 0 |
||
| ) |
Add/update Velocity for the item.
|
friend |
|
protected |
A list of the formats of the data items.
|
protected |
| uint16_t xsens::Packet::m_itemCount |
The number of data items in the message.
| Message xsens::Packet::m_msg |
The message.
| TimeStamp xsens::Packet::m_rtc |
Sample time in ms, based on the sample counter.
| TimeStamp xsens::Packet::m_toa |
Time of arrival.
|
protected |
Indicates that xbus-formatting is used.
1.8.6