#include <XsensDriver.hpp>
| XsensDriver::XsensDriver |
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| XsensDriver::~XsensDriver |
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| bool XsensDriver::close |
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void |
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| std::list< std::string > XsensDriver::getAvailableScenarios |
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| Eigen::Vector3d XsensDriver::getCalibratedAccData |
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const |
Returns the calibrated accelerometer data Note getReading() should be called before calling this function
| Eigen::Vector3d XsensDriver::getCalibratedGyroData |
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const |
Returns the calibrated gyroscope data Note getReading() should be called before calling this function
| Eigen::Vector3d XsensDriver::getCalibratedMagData |
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const |
Returns the calibrated magnetometer data Note getReading() should be called before calling this function
| Eigen::Vector3d XsensDriver::getEulerAngles |
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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
| int XsensDriver::getFileHandle |
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| uint16_t XsensDriver::getFrequency |
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void |
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Gets the sampling frequency of IMU. Returns frequency in Hz. Note: Method has to be called BEFORE setReadingMode() to apply new frequency value.
| Eigen::Quaternion< double > XsensDriver::getOrientation |
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const |
Returns the current orientation as quaternion. Note getReading() should be called before calling this function
| int XsensDriver::getPacketCounter |
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Returns the packt count of the last received packet from the IMU
| Eigen::Vector3d XsensDriver::getRawAccData |
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const |
Returns the raw accelerometer data Note getReading() should be called before calling this function
| Eigen::Vector3d XsensDriver::getRawGyroData |
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const |
Returns the raw gyroscope data Note getReading() should be called before calling this function
| Eigen::Vector3d XsensDriver::getRawMagData |
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const |
Returns the raw magnetometer data Note getReading() should be called before calling this function
This function acquires a new sensor reading from the Xsens IMU.
Return Values 0 Data Aquired -1 Timeout -2 Error fetching data from IMU
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
| std::list<std::string> xsens_imu::XsensDriver::getScenarios |
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const |
Returns the list of scenario names that are available on this device
| bool XsensDriver::open |
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std::string const & |
dev | ) |
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| bool XsensDriver::setCalibrationMode |
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| void XsensDriver::setFrequency |
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const uint16_t |
new_sample_frequency | ) |
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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.
| bool XsensDriver::setScenario |
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std::string const & |
name | ) |
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| bool XsensDriver::setSyncOut |
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bool |
enable, |
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bool |
pulse, |
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bool |
positive |
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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
| bool XsensDriver::setTimeout |
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const uint32_t |
timeout | ) |
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Sets the timout for reading measurements from the IMU. Parameter is in ms returns true on success
| const int xsens_imu::XsensDriver::DEFAULT_SAMPLE_FREQUENCY = 100 |
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static |
The documentation for this class was generated from the following files:
