iCub-main
Public Member Functions | List of all members
yarp::dev::XSensMTx Class Reference

xsensmtx : driver for XSens's MTx IMU unit. More...

#include <XSensMTx.h>

+ Inheritance diagram for yarp::dev::XSensMTx:

Public Member Functions

 XSensMTx ()
 Driver for XSens's MTx IMU unit. More...
 
virtual ~XSensMTx ()
 
bool read (yarp::sig::Vector &out) override
 
bool getChannels (int *nc) override
 
bool open (yarp::os::Searchable &config) override
 
bool calibrate (int ch, double v) override
 
bool close () override
 
yarp::os::Stamp getLastInputStamp () override
 
size_t getNrOfThreeAxisGyroscopes () const override
 Get the number of three axis gyroscopes in the device. More...
 
yarp::dev::MAS_status getThreeAxisGyroscopeStatus (size_t sens_index) const override
 Get the status of three axis gyroscope. More...
 
bool getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
 Get the name of three axis gyroscope. More...
 
bool getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame in which three axis gyroscope measurements are expressed. More...
 
bool getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get three axis gyroscope measurements. More...
 
size_t getNrOfThreeAxisLinearAccelerometers () const override
 Get the number of three axis linear accelerometers in the device. More...
 
yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
 Get the status of three axis linear accelerometer. More...
 
bool getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
 Get the name of three axis linear accelerometer. More...
 
bool getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame in which three axis linear accelerometer measurements are expressed. More...
 
bool getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get three axis linear accelerometer measurements. More...
 
size_t getNrOfThreeAxisMagnetometers () const override
 Get the number of three axis magnetometers in the device. More...
 
yarp::dev::MAS_status getThreeAxisMagnetometerStatus (size_t sens_index) const override
 Get the status of three axis magnetometer. More...
 
bool getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
 Get the name of three axis magnetometer. More...
 
bool getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame in which three axis magnetometer measurements are expressed. More...
 
bool getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get three axis magnetometer measurements. More...
 
size_t getNrOfOrientationSensors () const override
 Get the number of orientation sensors in the device. More...
 
yarp::dev::MAS_status getOrientationSensorStatus (size_t sens_index) const override
 Get the status of orientation sensor. More...
 
bool getOrientationSensorName (size_t sens_index, std::string &name) const override
 Get the name of orientation sensor. More...
 
bool getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame in which orientation sensor measurements are expressed. More...
 
bool getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
 Get orientation sensor measurements. More...
 
bool open (const XSensMTxParameters &par)
 

Detailed Description

xsensmtx : driver for XSens's MTx IMU unit.

Author
Radu Bogdan Rusu, Alexis Maldonado
YARP device name
xsensmtx

Definition at line 41 of file XSensMTx.h.

Constructor & Destructor Documentation

◆ XSensMTx()

XSensMTx::XSensMTx ( )

Driver for XSens's MTx IMU unit.

Author
Radu Bogdan Rusu, Alexis Maldonado

Definition at line 134 of file XSensMTx.cpp.

◆ ~XSensMTx()

XSensMTx::~XSensMTx ( )
virtual

Definition at line 141 of file XSensMTx.cpp.

Member Function Documentation

◆ calibrate()

bool XSensMTx::calibrate ( int  ch,
double  v 
)
override

Definition at line 179 of file XSensMTx.cpp.

◆ close()

bool XSensMTx::close ( )
override

Definition at line 315 of file XSensMTx.cpp.

◆ getChannels()

bool XSensMTx::getChannels ( int *  nc)
override

Definition at line 173 of file XSensMTx.cpp.

◆ getLastInputStamp()

yarp::os::Stamp XSensMTx::getLastInputStamp ( )
override

Definition at line 340 of file XSensMTx.cpp.

◆ getNrOfOrientationSensors()

size_t XSensMTx::getNrOfOrientationSensors ( ) const
override

Get the number of orientation sensors in the device.

Returns
1

Definition at line 399 of file XSensMTx.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t XSensMTx::getNrOfThreeAxisGyroscopes ( ) const
override

Get the number of three axis gyroscopes in the device.

Returns
1

Definition at line 373 of file XSensMTx.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t XSensMTx::getNrOfThreeAxisLinearAccelerometers ( ) const
override

Get the number of three axis linear accelerometers in the device.

Returns
1

Definition at line 346 of file XSensMTx.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t XSensMTx::getNrOfThreeAxisMagnetometers ( ) const
override

Get the number of three axis magnetometers in the device.

Returns
1

Definition at line 424 of file XSensMTx.cpp.

◆ getOrientationSensorFrameName()

bool XSensMTx::getOrientationSensorFrameName ( size_t  sens_index,
std::string frameName 
) const
override

Get the name of the frame in which orientation sensor measurements are expressed.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]frameNamename of the sensor frame
Returns
true/false success/failure

Definition at line 414 of file XSensMTx.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool XSensMTx::getOrientationSensorMeasureAsRollPitchYaw ( size_t  sens_index,
yarp::sig::Vector &  rpy,
double &  timestamp 
) const
override

Get orientation sensor measurements.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]outRPY Euler angles in deg
[out]timestamptimestamp of measurement
Returns
true/false success/failure

Definition at line 419 of file XSensMTx.cpp.

◆ getOrientationSensorName()

bool XSensMTx::getOrientationSensorName ( size_t  sens_index,
std::string name 
) const
override

Get the name of orientation sensor.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]namename of the sensor
Returns
true/false success/failure

Definition at line 409 of file XSensMTx.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status XSensMTx::getOrientationSensorStatus ( size_t  sens_index) const
override

Get the status of orientation sensor.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
Returns
MAS_OK/MAS_ERROR if status ok/failure

Definition at line 404 of file XSensMTx.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool XSensMTx::getThreeAxisGyroscopeFrameName ( size_t  sens_index,
std::string frameName 
) const
override

Get the name of the frame in which three axis gyroscope measurements are expressed.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]frameNamename of the sensor frame
Returns
true/false success/failure

Definition at line 389 of file XSensMTx.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool XSensMTx::getThreeAxisGyroscopeMeasure ( size_t  sens_index,
yarp::sig::Vector &  out,
double &  timestamp 
) const
override

Get three axis gyroscope measurements.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]out3D angular velocity measurement in deg/s
[out]timestamptimestamp of measurement
Returns
true/false success/failure

Definition at line 394 of file XSensMTx.cpp.

◆ getThreeAxisGyroscopeName()

bool XSensMTx::getThreeAxisGyroscopeName ( size_t  sens_index,
std::string name 
) const
override

Get the name of three axis gyroscope.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]namename of the sensor
Returns
true/false success/failure

Definition at line 384 of file XSensMTx.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status XSensMTx::getThreeAxisGyroscopeStatus ( size_t  sens_index) const
override

Get the status of three axis gyroscope.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
Returns
MAS_OK/MAS_ERROR if status ok/failure

Definition at line 379 of file XSensMTx.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool XSensMTx::getThreeAxisLinearAccelerometerFrameName ( size_t  sens_index,
std::string frameName 
) const
override

Get the name of the frame in which three axis linear accelerometer measurements are expressed.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]frameNamename of the sensor frame
Returns
true/false success/failure

Definition at line 362 of file XSensMTx.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool XSensMTx::getThreeAxisLinearAccelerometerMeasure ( size_t  sens_index,
yarp::sig::Vector &  out,
double &  timestamp 
) const
override

Get three axis linear accelerometer measurements.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]out3D linear acceleration measurement in m/s^2
[out]timestamptimestamp of measurement
Returns
true/false success/failure

Definition at line 367 of file XSensMTx.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool XSensMTx::getThreeAxisLinearAccelerometerName ( size_t  sens_index,
std::string name 
) const
override

Get the name of three axis linear accelerometer.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]namename of the sensor
Returns
true/false success/failure

Definition at line 357 of file XSensMTx.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status XSensMTx::getThreeAxisLinearAccelerometerStatus ( size_t  sens_index) const
override

Get the status of three axis linear accelerometer.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
Returns
MAS_OK/MAS_ERROR if status ok/failure

Definition at line 352 of file XSensMTx.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool XSensMTx::getThreeAxisMagnetometerFrameName ( size_t  sens_index,
std::string frameName 
) const
override

Get the name of the frame in which three axis magnetometer measurements are expressed.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]frameNamename of the sensor frame
Returns
true/false success/failure

Definition at line 439 of file XSensMTx.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool XSensMTx::getThreeAxisMagnetometerMeasure ( size_t  sens_index,
yarp::sig::Vector &  out,
double &  timestamp 
) const
override

Get three axis magnetometer measurements.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]out3D magnetometer measurement
[out]timestamptimestamp of measurement
Returns
true/false success/failure

Definition at line 444 of file XSensMTx.cpp.

◆ getThreeAxisMagnetometerName()

bool XSensMTx::getThreeAxisMagnetometerName ( size_t  sens_index,
std::string name 
) const
override

Get the name of three axis magnetometer.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
[out]namename of the sensor
Returns
true/false success/failure

Definition at line 434 of file XSensMTx.cpp.

◆ getThreeAxisMagnetometerStatus()

yarp::dev::MAS_status XSensMTx::getThreeAxisMagnetometerStatus ( size_t  sens_index) const
override

Get the status of three axis magnetometer.

Parameters
[in]sens_indexsensor index (must be 0 in the case BoschIMU)
Returns
MAS_OK/MAS_ERROR if status ok/failure

Definition at line 429 of file XSensMTx.cpp.

◆ open() [1/2]

bool XSensMTx::open ( const XSensMTxParameters par)

Definition at line 230 of file XSensMTx.cpp.

◆ open() [2/2]

bool XSensMTx::open ( yarp::os::Searchable &  config)
override

Definition at line 207 of file XSensMTx.cpp.

◆ read()

bool XSensMTx::read ( yarp::sig::Vector &  out)
override

Definition at line 151 of file XSensMTx.cpp.


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