InertialMeasurementUnitObserver Class Reference

Observer monitoring @IMU sensor values. More...

#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>

+ Inheritance diagram for InertialMeasurementUnitObserver:

Public Member Functions

PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
 InertialMeasurementUnitObserver ()
 
void onConnectObserver () override
 Framework hook. More...
 
void onExitObserver () override
 Framework hook. More...
 
void onInitObserver () override
 Framework hook. More...
 
void reportSensorValues (const std::string &device, const std::string &name, const IMUData &values, const TimestampBasePtr &timestamp, const Ice::Current &c=Ice::emptyCurrent) override
 
- Public Member Functions inherited from Observer
DatafieldRefBasePtr createFilteredDatafield (const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef)
 This function creates a new datafield with new filter on the given datafield. More...
 
void createFilteredDatafield_async (const AMD_ObserverInterface_createFilteredDatafieldPtr &amd, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override
 
DatafieldRefBasePtr createNamedFilteredDatafield (const std::string &filterDatafieldName, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef)
 
void createNamedFilteredDatafield_async (const AMD_ObserverInterface_createNamedFilteredDatafieldPtr &amd, const std::string &filterDatafieldName, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override
 
bool existsChannel (const std::string &channelName) const
 
void existsChannel_async (const AMD_ObserverInterface_existsChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override
 
bool existsDataField (const std::string &channelName, const std::string &datafieldName) const
 
void existsDataField_async (const AMD_ObserverInterface_existsDataFieldPtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override
 
ChannelRegistry getAvailableChannels (bool includeMetaChannels)
 Retrieve information on all sensory data channels available from the observer. More...
 
void getAvailableChannels_async (const AMD_ObserverInterface_getAvailableChannelsPtr &amd, bool includeMetaChannels, const Ice::Current &) override
 
StringConditionCheckMap getAvailableChecks ()
 Retrieve list of available condition checks. More...
 
void getAvailableChecks_async (const AMD_ObserverInterface_getAvailableChecksPtr &amd, const Ice::Current &) override
 
ChannelRegistryEntry getChannel (const std::string &channelName) const
 Retrieve information on all sensory data channels available from the observer. More...
 
void getChannel_async (const AMD_ObserverInterface_getChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override
 
ChannelHistory getChannelHistory (const std::string &channelName, Ice::Float timestepMs, const Ice::Current &c) const
 
void getChannelHistory_async (const AMD_ObserverInterface_getChannelHistoryPtr &amd, const std::string &channelName, Ice::Float timestepMs, const Ice::Current &c) const override
 
TimedVariantBasePtr getDataField (const DataFieldIdentifierBasePtr &identifier, const Ice::Current &c=Ice::emptyCurrent) const
 Retrieve data field from observer. More...
 
void getDataField_async (const AMD_ObserverInterface_getDataFieldPtr &amd, const DataFieldIdentifierBasePtr &identifier, const Ice::Current &c) const override
 
TimedVariantBasePtr getDatafieldByName (const std::string &channelName, const std::string &datafieldName) const
 
void getDatafieldByName_async (const AMD_ObserverInterface_getDatafieldByNamePtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override
 
TimedVariantBaseList getDatafieldHistory (const std::string &channelName, const std::string &datafieldName, Ice::Float timestepMs, const Ice::Current &c) const
 
void getDatafieldHistory_async (const AMD_ObserverInterface_getDatafieldHistoryPtr &amd, const std::string &channelName, const std::string &datafieldName, Ice::Float timestepMs, const Ice::Current &c) const override
 
DatafieldRefBasePtr getDataFieldRef (const DataFieldIdentifierBasePtr &identifier) const
 
void getDataFieldRef_async (const AMD_ObserverInterface_getDataFieldRefPtr &amd, const DataFieldIdentifierBasePtr &identifier, const Ice::Current &) const override
 
DatafieldRefBasePtr getDatafieldRefByName (const std::string &channelName, const std::string &datafieldName) const
 
void getDatafieldRefByName_async (const AMD_ObserverInterface_getDatafieldRefByNamePtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override
 
TimedVariantBaseList getDataFields (const DataFieldIdentifierBaseList &identifiers, const Ice::Current &c)
 Retrieve list of data field from observer. More...
 
void getDataFields_async (const AMD_ObserverInterface_getDataFieldsPtr &amd, const DataFieldIdentifierBaseList &identifiers, const Ice::Current &c) override
 
StringTimedVariantBaseMap getDatafieldsOfChannel (const std::string &channelName) const
 
void getDatafieldsOfChannel_async (const AMD_ObserverInterface_getDatafieldsOfChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override
 
std::string getObserverName () const
 
void getObserverName_async (const AMD_ObserverInterface_getObserverNamePtr &amd, const Ice::Current &) const override
 
ChannelHistory getPartialChannelHistory (const std::string &channelName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const
 
void getPartialChannelHistory_async (const AMD_ObserverInterface_getPartialChannelHistoryPtr &amd, const std::string &channelName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const override
 
TimedVariantBaseList getPartialDatafieldHistory (const std::string &channelName, const std::string &datafieldName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const
 
void getPartialDatafieldHistory_async (const AMD_ObserverInterface_getPartialDatafieldHistoryPtr &amd, const std::string &channelName, const std::string &datafieldName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const override
 
CheckIdentifier installCheck (const CheckConfiguration &configuration)
 Installs a condition check with the observer. More...
 
void installCheck_async (const AMD_ObserverInterface_installCheckPtr &amd, const CheckConfiguration &configuration, const Ice::Current &) override
 
 Observer ()
 
void removeCheck (const CheckIdentifier &id)
 Removes a condition check from the observer. More...
 
void removeCheck_async (const AMD_ObserverInterface_removeCheckPtr &amd, const CheckIdentifier &id, const Ice::Current &) override
 
void removeFilteredDatafield (const DatafieldRefBasePtr &datafieldRef)
 Removes a previously installed filter. More...
 
void removeFilteredDatafield_async (const AMD_ObserverInterface_removeFilteredDatafieldPtr &amd, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override
 
 ~Observer ()
 
- Public Member Functions inherited from Component
virtual void componentPropertiesUpdated (const std::set< std::string > &changedProperties)
 Implement this function if you would like to react to changes in the properties. More...
 
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
 Factory method for a component. More...
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 
- Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 
- Protected Types inherited from Observer
using ClockT = std::chrono::high_resolution_clock
 
using TimepointT = typename ClockT::time_point
 
- Protected Member Functions inherited from Observer
template<class AMDPtr , class FReturn , class FOwner , class... FParams, class... Params>
void addWorkerJob (const std::string &name, const AMDPtr &amd, FReturn(FOwner::*fnc)(FParams...) const, const Params &...ps) const
 
template<class AMDPtr , class FReturn , class FOwner , class... FParams, class... Params>
void addWorkerJob (const std::string &name, const AMDPtr &amd, FReturn(FOwner::*fnc)(FParams...), const Params &...ps)
 
void addWorkerJob (const std::string &name, std::function< void(void)> &&f)
 
void addWorkerJob (const std::string &name, std::function< void(void)> &&f) const
 
void callAndPassExceptionToAMD (auto &amd, auto f) const
 
int generateId ()
 
void maybeOfferChannelAndSetDataFieldsFlatCopy (const std::string &channelName, const std::string &description, const StringVariantBaseMap &datafieldValues, bool triggerFilterUpdate=true)
 
void metaUpdateTask ()
 
void offerChannel (std::string channelName, std::string description)
 Offer a channel. More...
 
void offerConditionCheck (std::string checkName, ConditionCheck *conditionCheck)
 Offer a condition check. More...
 
void offerDataField (std::string channelName, std::string datafieldName, VariantTypeId type, std::string description)
 Offer a datafield without default value. More...
 
void offerDataFieldWithDefault (std::string channelName, std::string datafieldName, const Variant &defaultValue, std::string description)
 Offer a datafield with default value. More...
 
bool offerOrUpdateDataField (std::string channelName, std::string datafieldName, const Variant &value, const std::string &description)
 
void offerOrUpdateDataFieldsFlatCopy (const std::string &channelName, const StringVariantBaseMap &valueMap)
 
virtual void postWorkerJobs ()
 
virtual void preWorkerJobs ()
 
void removeChannel (std::string channelName)
 Remove a channel. More...
 
void removeDatafield (DataFieldIdentifierBasePtr id)
 
void runWorker ()
 
void scheduleDatafieldFilterUpdate (const std::string &channelName, const std::string &datafieldName, const VariantBasePtr &value)
 
void setDataField (const std::string &channelName, const std::string &datafieldName, const Variant &value, bool triggerFilterUpdate=true)
 set datafield with datafieldName and in channel channelName More...
 
void setDataFieldFlatCopy (const std::string &channelName, const std::string &datafieldName, const VariantPtr &value, bool triggerFilterUpdate=true)
 
void setDataFieldsFlatCopy (const std::string &channelName, const std::unordered_map< ::std::string, ::armarx::VariantBasePtr > &datafieldValues, bool triggerFilterUpdate=true)
 
void setDataFieldsFlatCopy (const std::string &channelName, const StringVariantBaseMap &datafieldValues, bool triggerFilterUpdate=true)
 
void updateChannel (const std::string &channelName, const std::set< std::string > &updatedDatafields=std::set< std::string >())
 Update all conditions for a channel. More...
 
std::set< std::string > updateDatafieldFilter (const std::string &channelName, const std::string &datafieldName, const VariantBasePtr &value)
 
void updateDatafieldTimestamps (const std::string &channelName, const std::unordered_map< std::string, Ice::Long > &datafieldValues)
 
void updateDatafieldTimestamps (const std::string &channelName, Ice::Long timestamp)
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void onDisconnectComponent ()
 Hook for subclass. More...
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 
- Static Protected Member Functions inherited from Observer
static TimepointT Now ()
 
static float TimeDeltaInMs (TimepointT t0)
 
- Protected Attributes inherited from Observer
std::recursive_mutex channelsMutex
 
std::unique_ptr< Implimpl
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Observer monitoring @IMU sensor values.

The InertialMeasurementUnitObserver monitors @IMU sensor values published by InertialMeasurementUnit-implementations and offers condition checks on these values. Available condition checks are: updated, larger, equals and smaller.

Definition at line 62 of file InertialMeasurementUnitObserver.h.

Constructor & Destructor Documentation

◆ InertialMeasurementUnitObserver()

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overridevirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Observer.

Definition at line 147 of file InertialMeasurementUnitObserver.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns
default name of the component (e.g. "KinematicUnit")

Reimplemented from Observer.

Definition at line 69 of file InertialMeasurementUnitObserver.h.

◆ onConnectObserver()

void onConnectObserver ( )
overridevirtual

Framework hook.

Called on first run, after ice setup.

Implements Observer.

Definition at line 53 of file InertialMeasurementUnitObserver.cpp.

◆ onExitObserver()

void onExitObserver ( )
overridevirtual

Framework hook.

Called on first run, after ice setup.

Reimplemented from Observer.

Definition at line 61 of file InertialMeasurementUnitObserver.cpp.

◆ onInitObserver()

void onInitObserver ( )
overridevirtual

Framework hook.

Called once on initialization of the Observer.

Implements Observer.

Definition at line 38 of file InertialMeasurementUnitObserver.cpp.

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◆ reportSensorValues()

void reportSensorValues ( const std::string &  device,
const std::string &  name,
const IMUData &  values,
const TimestampBasePtr &  timestamp,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 70 of file InertialMeasurementUnitObserver.cpp.

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