List of all members | Public Types | Public Member Functions | Protected Member Functions
CIMUDevice Class Reference

This class contains the the devices module and the thread for read the measurements. More...

#include <RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h>

Public Types

enum  FusionStrategy { eNoFusion , eMeanFusion , eGaussianFusion }
 
enum  SamplingFrequency {
  eSamplingFrequency_10HZ = 0x2D00 , eSamplingFrequency_12HZ = 0x2580 , eSamplingFrequency_15HZ = 0x1E00 , eSamplingFrequency_16HZ = 0x1C20 ,
  eSamplingFrequency_18HZ = 0x1900 , eSamplingFrequency_20HZ = 0x1680 , eSamplingFrequency_24HZ = 0x12C0 , eSamplingFrequency_25HZ = 0x1200 ,
  eSamplingFrequency_30HZ = 0x0F00 , eSamplingFrequency_32HZ = 0x0E10 , eSamplingFrequency_36HZ = 0x0C80 , eSamplingFrequency_40HZ = 0x0B40 ,
  eSamplingFrequency_45HZ = 0x0A00 , eSamplingFrequency_48HZ = 0x0960 , eSamplingFrequency_50HZ = 0x0900 , eSamplingFrequency_60HZ = 0x0780 ,
  eSamplingFrequency_64HZ = 0x0708 , eSamplingFrequency_72HZ = 0x0640 , eSamplingFrequency_75HZ = 0x0600 , eSamplingFrequency_80HZ = 0x05A0 ,
  eSamplingFrequency_90HZ = 0x0500 , eSamplingFrequency_96HZ = 0x04B0 , eSamplingFrequency_100HZ = 0x0480 , eSamplingFrequency_120HZ = 0x03C0 ,
  eSamplingFrequency_128HZ = 0x0384 , eSamplingFrequency_144HZ = 0x0320 , eSamplingFrequency_150HZ = 0x0300 , eSamplingFrequency_160HZ = 0x02D0 ,
  eSamplingFrequency_180HZ = 0x0280 , eSamplingFrequency_192HZ = 0x0258 , eSamplingFrequency_200HZ = 0x0240 , eSamplingFrequency_225HZ = 0x0200 ,
  eSamplingFrequency_240HZ = 0x01E0 , eSamplingFrequency_256HZ = 0x01C2 , eSamplingFrequency_288HZ = 0x0190 , eSamplingFrequency_300HZ = 0x0180 ,
  eSamplingFrequency_320HZ = 0x0168 , eSamplingFrequency_360HZ = 0x0140 , eSamplingFrequency_384HZ = 0x012C , eSamplingFrequency_400HZ = 0x0120 ,
  eSamplingFrequency_450HZ = 0x0100 , eSamplingFrequency_480HZ = 0x00F0 , eSamplingFrequency_512HZ = 0x00E1
}
 Enum specifying the supported sampling frequencies. More...
 
enum  ThreadPolicyType { eRealTime = SCHED_FIFO , eRoundRobinPriorityBased = SCHED_RR , eBatch = SCHED_BATCH , eIdle = SCHED_IDLE }
 Enum specifying the running thread policy. More...
 

Public Member Functions

 CIMUDevice ()
 The default constructor. The default constructor sets all member variables to zero, i.e. after construction no valid device nor thread are represented.
 
bool Connect (const std::string &PortName, const SamplingFrequency Frequency)
 
uint64_t GetDeviceId () const
 
IMUState GetIMUState () const
 
const timeval & GetReferenceTimeStamp () const
 
bool IsActive () const
 
bool RegisterEventDispatcher (IIMUEventDispatcher *pIMUEventDispatcher)
 
bool SetFusion (const FusionStrategy Strategy, const ushort SamplesPerFusion)
 
bool SetThreadRunnigMode (const ThreadPolicyType ThreadPolicy, const float NormalizedPriority)
 
bool Start (const bool Blocking=true)
 
void Stop (const bool Blocking=true)
 
bool UnregisterEventDispatcher (IIMUEventDispatcher *pIMUEventDispatcher)
 
virtual ~CIMUDevice ()
 The destructor.
 

Protected Member Functions

bool GaussianFuseCurrentState ()
 
void GaussianFusion ()
 
void IncorporateCurrentStateGaussianFusion ()
 
void IncorporateCurrentStateMeanFusion ()
 
bool IntegrateCurrentState ()
 
bool IntegrateWithFusion ()
 
bool IntegrateWithOutFusion ()
 
bool LoadCurrentState ()
 
bool MeanFuseCurrentState ()
 
void MeanFusion ()
 

Detailed Description

This class contains the the devices module and the thread for read the measurements.

CIMUDevice encapsulates the device details for the rest of the library and applications. This also includes a thread which is in charge of generate the IMU events

Member Enumeration Documentation

◆ FusionStrategy

enum FusionStrategy
Enumerator
eNoFusion 
eMeanFusion 
eGaussianFusion 

◆ SamplingFrequency

enum SamplingFrequency

Enum specifying the supported sampling frequencies.

Enumerator
eSamplingFrequency_10HZ 
eSamplingFrequency_12HZ 
eSamplingFrequency_15HZ 
eSamplingFrequency_16HZ 
eSamplingFrequency_18HZ 
eSamplingFrequency_20HZ 
eSamplingFrequency_24HZ 
eSamplingFrequency_25HZ 
eSamplingFrequency_30HZ 
eSamplingFrequency_32HZ 
eSamplingFrequency_36HZ 
eSamplingFrequency_40HZ 
eSamplingFrequency_45HZ 
eSamplingFrequency_48HZ 
eSamplingFrequency_50HZ 
eSamplingFrequency_60HZ 
eSamplingFrequency_64HZ 
eSamplingFrequency_72HZ 
eSamplingFrequency_75HZ 
eSamplingFrequency_80HZ 
eSamplingFrequency_90HZ 
eSamplingFrequency_96HZ 
eSamplingFrequency_100HZ 
eSamplingFrequency_120HZ 
eSamplingFrequency_128HZ 
eSamplingFrequency_144HZ 
eSamplingFrequency_150HZ 
eSamplingFrequency_160HZ 
eSamplingFrequency_180HZ 
eSamplingFrequency_192HZ 
eSamplingFrequency_200HZ 
eSamplingFrequency_225HZ 
eSamplingFrequency_240HZ 
eSamplingFrequency_256HZ 
eSamplingFrequency_288HZ 
eSamplingFrequency_300HZ 
eSamplingFrequency_320HZ 
eSamplingFrequency_360HZ 
eSamplingFrequency_384HZ 
eSamplingFrequency_400HZ 
eSamplingFrequency_450HZ 
eSamplingFrequency_480HZ 
eSamplingFrequency_512HZ 

◆ ThreadPolicyType

enum ThreadPolicyType

Enum specifying the running thread policy.

Enumerator
eRealTime 
eRoundRobinPriorityBased 
eBatch 
eIdle 

Constructor & Destructor Documentation

◆ CIMUDevice()

CIMUDevice ( )

The default constructor. The default constructor sets all member variables to zero, i.e. after construction no valid device nor thread are represented.

◆ ~CIMUDevice()

~CIMUDevice ( )
virtual

The destructor.

Member Function Documentation

◆ Connect()

bool Connect ( const std::string & PortName,
const SamplingFrequency Frequency )

◆ GaussianFuseCurrentState()

bool GaussianFuseCurrentState ( )
protected

◆ GaussianFusion()

void GaussianFusion ( )
protected

◆ GetDeviceId()

uint64_t GetDeviceId ( ) const

◆ GetIMUState()

IMUState GetIMUState ( ) const
inline

◆ GetReferenceTimeStamp()

const timeval & GetReferenceTimeStamp ( ) const
inline

◆ IncorporateCurrentStateGaussianFusion()

void IncorporateCurrentStateGaussianFusion ( )
protected

◆ IncorporateCurrentStateMeanFusion()

void IncorporateCurrentStateMeanFusion ( )
protected

◆ IntegrateCurrentState()

bool IntegrateCurrentState ( )
protected

◆ IntegrateWithFusion()

bool IntegrateWithFusion ( )
protected

◆ IntegrateWithOutFusion()

bool IntegrateWithOutFusion ( )
protected

◆ IsActive()

bool IsActive ( ) const

◆ LoadCurrentState()

bool LoadCurrentState ( )
protected

◆ MeanFuseCurrentState()

bool MeanFuseCurrentState ( )
protected

◆ MeanFusion()

void MeanFusion ( )
protected

◆ RegisterEventDispatcher()

bool RegisterEventDispatcher ( IIMUEventDispatcher * pIMUEventDispatcher)

◆ SetFusion()

bool SetFusion ( const FusionStrategy Strategy,
const ushort SamplesPerFusion )

◆ SetThreadRunnigMode()

bool SetThreadRunnigMode ( const ThreadPolicyType ThreadPolicy,
const float NormalizedPriority )

◆ Start()

bool Start ( const bool Blocking = true)

◆ Stop()

void Stop ( const bool Blocking = true)

◆ UnregisterEventDispatcher()

bool UnregisterEventDispatcher ( IIMUEventDispatcher * pIMUEventDispatcher)
The documentation for this class was generated from the following files: