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xsens_imu
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The namespace of all Xsens software since 2006. More...
Classes | |
| class | Cmt1f |
| The low-level file communication class. More... | |
| class | Cmt1s |
| The low-level serial communication class. More... | |
| class | Cmt2f |
| The mid-level file communication class. More... | |
| class | Cmt2s |
| Mid-level serial communication class. More... | |
| class | Cmt3 |
| High-level communication class. More... | |
| class | Exception |
| class | FifoQueue |
| A FIFO queue with limited length (cyclic). More... | |
| class | FifoQueueBasic |
| A FIFO queue with limited length (cyclic). More... | |
| union | Itypes |
| class | JanitorClassFunc |
| Class function calling janitor class. More... | |
| class | JanitorClassFuncP1 |
| Class function calling janitor class with a parameter. More... | |
| class | List |
| Dynamic list class. More... | |
| class | Message |
| Class for storing a single message. More... | |
| struct | MessageHeader |
| A message header. More... | |
| class | MillisecondTimer |
| class | Packet |
| A structure containing MT data + timestamp and formatting information. More... | |
| class | TimeSync |
| Class for synchronizing two clocks. More... | |
| struct | TimeSyncHistoryUnit |
| A single time of receive / time of send pair. More... | |
| class | TimeSyncPrivate |
| Private data for the TimeSync class. More... | |
Typedefs | |
| typedef int32_t | HANDLE |
| typedef int64_t | TimeStamp |
| A real-time timestamp (ms) More... | |
Functions | |
| int | _wcsnicmp (const wchar_t *s1, const wchar_t *s2, int count) |
| int32_t | findValidMessage (const uint8_t *buffer, const uint16_t bufferLength) |
| Find a valid message in the given buffer. If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned. More... | |
| uint8_t | computeChecksum (const uint8_t *buffer, uint32_t length) |
| Compute the checksum of the given byte string. More... | |
| bool | cmtScanPort (CmtPortInfo &portInfo, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1) |
| Scan a single COM port for connected Xsens devices. More... | |
| bool | cmtScanPorts (List< CmtPortInfo > &ports, uint32_t baudrate=0, uint32_t singleScanTimeout=1000, uint32_t scanTries=1, bool ignoreNonXsensDevices=true) |
| Scan COM ports for connected Xsens devices. More... | |
| uint32_t | getTimeOfDay (tm *date_, time_t *secs_) |
| A platform-independent clock. More... | |
| int64_t | getDateTime (tm *date=0) |
| Retrieves the date and time (platform-independent) More... | |
| void | getDateAsString (uint8_t *dest, tm const *date=0) |
| Retrieves the date as string representation The format is YYYYMMDD so 25 dec 2010 is stored as an array dest[8] = {'2', '0', '1', '0', '1', '2', '2', '5' }. More... | |
| void | getTimeAsString (uint8_t *dest, tm const *date=0) |
| Retrieves the time as binary The format is HHMMSShh (where H is hour and 'h' is hundredths) so 14:25:01.23 is stored as an array dest[8] = { '1', '4', '2', '5', '0', '1', '2', '3'}. More... | |
| void | msleep (uint32_t ms) |
| Sleep for ms milliseconds. More... | |
| TimeStamp | timeStampNow () |
| void | initializeTime () |
| Stabilize the clock. More... | |
Variables | |
| bool | abortScan = false |
| Set to true from another thread to abort any scan currently in progress. More... | |
The namespace of all Xsens software since 2006.
| typedef int32_t xsens::HANDLE |
| typedef int64_t xsens::TimeStamp |
A real-time timestamp (ms)
| int xsens::_wcsnicmp | ( | const wchar_t * | s1, |
| const wchar_t * | s2, | ||
| int | count | ||
| ) |
| bool xsens::cmtScanPort | ( | CmtPortInfo & | portInfo, |
| uint32_t | baudrate = 0, |
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| uint32_t | singleScanTimeout = 1000, |
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| uint32_t | scanTries = 1 |
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| ) |
Scan a single COM port for connected Xsens devices.
The cmtScanPort function will scan a single port for connected Xsens devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baud rate is tried. Any detected devices are returned in the portInfo parameter.
| bool xsens::cmtScanPorts | ( | List< CmtPortInfo > & | ports, |
| uint32_t | baudrate = 0, |
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| uint32_t | singleScanTimeout = 1000, |
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| uint32_t | scanTries = 1, |
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| bool | ignoreNonXsensDevices = true |
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| ) |
Scan COM ports for connected Xsens devices.
The cmtScanPorts function will scan registered Xsens USB converters and serial COM ports for connected Xsens devices. If the baudrate parameter is 0 (default), it will try to connect at all supported baud rates, starting with the most common 115k2, 460k8 and 58k6. If the baudrate parameter is non-zero, only the specified baudrate is tried. Any detected devices are returned in the ports list, which is sorted by port nr.
| uint8_t xsens::computeChecksum | ( | const uint8_t * | buffer, |
| uint32_t | length | ||
| ) |
Compute the checksum of the given byte string.
| int32_t xsens::findValidMessage | ( | const uint8_t * | buffer, |
| const uint16_t | bufferLength | ||
| ) |
Find a valid message in the given buffer. If nothing is found, the function returns -1. Otherwise the index of the first character of the message is returned.
| void xsens::getDateAsString | ( | uint8_t * | dest, |
| tm const * | date = 0 |
||
| ) |
Retrieves the date as string representation The format is YYYYMMDD so 25 dec 2010 is stored as an array dest[8] = {'2', '0', '1', '0', '1', '2', '2', '5' }.
| dest | : A pointer to an array of at least (!) 8 bytes |
| date | : If date is non-zero this date is converted, otherwise the current date is retrieved and used) |
| int64_t xsens::getDateTime | ( | tm * | date = 0 | ) |
Retrieves the date and time (platform-independent)
| date | : if non-zero the local (!) date and time is stored in the tm struct this parameter points to |
| void xsens::getTimeAsString | ( | uint8_t * | dest, |
| tm const * | date = 0 |
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| ) |
Retrieves the time as binary The format is HHMMSShh (where H is hour and 'h' is hundredths) so 14:25:01.23 is stored as an array dest[8] = { '1', '4', '2', '5', '0', '1', '2', '3'}.
| dest | : A pointer to an array of at least (!) 8 bytes |
| date | : If date is non-zero this date is converted, otherwise the current date is retrieved and used) |
| uint32_t xsens::getTimeOfDay | ( | tm * | date_ = NULL, |
| time_t * | secs_ = NULL |
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| ) |
A platform-independent clock.
The function returns the time of day in ms since midnight. If the date parameter is non-NULL, corresponding the date is placed in the variable it points to.
| void xsens::initializeTime | ( | ) |
Stabilize the clock.
Repeatedly call timeStampNow for 16-32 ms to stabilize the clock
| void xsens::msleep | ( | uint32_t | ms | ) |
Sleep for ms milliseconds.
A platform-independent sleep routine.
A platform independent sleep routine to sleep for at least ms milliseconds.
On linux we are using pthread_cond_t, which implies that the timedwait() is a cancellation point. This function might return sooner than expected in some cases.
Time is measured in ms. The function will not return until the specified number of ms have passed.
| TimeStamp xsens::timeStampNow | ( | ) |
| bool xsens::abortScan = false |
Set to true from another thread to abort any scan currently in progress.
1.8.11