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.

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.

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of three axis gyroscope.

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of three axis gyroscope.

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.

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis gyroscope measurements.

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers in the device.

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of three axis linear accelerometer.

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of three axis linear accelerometer.

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.

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis linear accelerometer measurements.

size_t	getNrOfThreeAxisMagnetometers () const override
	Get the number of three axis magnetometers in the device.

yarp::dev::MAS_status	getThreeAxisMagnetometerStatus (size_t sens_index) const override
	Get the status of three axis magnetometer.

bool	getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
	Get the name of three axis magnetometer.

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.

bool	getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get three axis magnetometer measurements.

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors in the device.

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of orientation sensor.

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of orientation sensor.

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame in which orientation sensor measurements are expressed.

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get orientation sensor measurements.

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_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	RPY Euler angles in deg
[out]	timestamp	timestamp 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name 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_index sensor 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D angular velocity measurement in deg/s
[out]	timestamp	timestamp 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name 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_index sensor 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D linear acceleration measurement in m/s^2
[out]	timestamp	timestamp 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name 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_index sensor 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	frameName	name 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	out	3D magnetometer measurement
[out]	timestamp	timestamp 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_index	sensor index (must be 0 in the case BoschIMU)
[out]	name	name 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_index sensor 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:

icub-main/src/libraries/icubmod/xsensmtx/XSensMTx.h
icub-main/src/libraries/icubmod/xsensmtx/XSensMTx.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ XSensMTx()

◆ ~XSensMTx()

Member Function Documentation

◆ calibrate()

◆ close()

◆ getChannels()

◆ getLastInputStamp()

◆ getNrOfOrientationSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getNrOfThreeAxisMagnetometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open() [1/2]

◆ open() [2/2]

◆ read()