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< PropertyUserPtr >	getAdditionalPropertyUsers () 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< T >	getPropertyAsCSV (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 LogSenderPtr &	getLogSender () 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< Impl >	impl

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()

InertialMeasurementUnitObserver ( )

inline

Definition at line 67 of file InertialMeasurementUnitObserver.h.

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:

RobotAPI/components/units/InertialMeasurementUnitObserver.h
RobotAPI/components/units/InertialMeasurementUnitObserver.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InertialMeasurementUnitObserver()

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ onConnectObserver()

◆ onExitObserver()

◆ onInitObserver()

◆ reportSensorValues()