LibMultiSense
LibMultiSense Documentation
crl::multisense::imu::Info Class Reference

Class containing detailed information for the IMU. More...

#include <MultiSenseTypes.hh>

Classes

struct  RangeEntry
 Class containing a one valid IMU range configuration. More...
 
struct  RateEntry
 Class containing a one valid IMU rate configuration. More...
 

Public Attributes

std::string name
 The name of a specific IMU source. More...
 
std::string device
 The device name for a specific IMU source. More...
 
std::string units
 The units of for a specific IMU source. More...
 
std::vector< RateEntryrates
 The various rates available for a specific IMU source. More...
 
std::vector< RangeEntryranges
 The various ranges and resolutions available for a specific IMU source. More...
 

Detailed Description

Class containing detailed information for the IMU.

A vector of Info classes are returned by reference in crl::multisense::Channel::getImuInfo

See http://docs.carnegierobotics.com/ for more info on the specific IMU sensors used

Example code to query IMU info:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a vector of IMU info instances to store information for
// each IMU sensor
std::vector<crl::multisense::imu::Info> imuInfoVect;
//
// Create a uint32_t to store the maxSamplesPerMessage quantity returned
// by reference from getImuInfo
uint32_t maxSamplesPerMessage;
//
// Query the IMU info from the Channel instance
crl::multisense::Status status = channel->getImuInfo(maxSamplesPerMessage, imuInfoVect);
//
// Check to see if the IMU info query was sucessful
throw std::runtime_error("Unable to query imu info");
}
//
// Use the imu info...
//
// Destroy the channel instance

Definition at line 2667 of file MultiSenseTypes.hh.

Member Data Documentation

◆ device

std::string crl::multisense::imu::Info::device

The device name for a specific IMU source.

Definition at line 2694 of file MultiSenseTypes.hh.

◆ name

std::string crl::multisense::imu::Info::name

The name of a specific IMU source.

Definition at line 2692 of file MultiSenseTypes.hh.

◆ ranges

std::vector<RangeEntry> crl::multisense::imu::Info::ranges

The various ranges and resolutions available for a specific IMU source.

Definition at line 2700 of file MultiSenseTypes.hh.

◆ rates

std::vector<RateEntry> crl::multisense::imu::Info::rates

The various rates available for a specific IMU source.

Definition at line 2698 of file MultiSenseTypes.hh.

◆ units

std::string crl::multisense::imu::Info::units

The units of for a specific IMU source.

Definition at line 2696 of file MultiSenseTypes.hh.


The documentation for this class was generated from the following file:
crl::multisense::Channel
Class which manages all communications with a MultiSense device.
Definition: MultiSenseChannel.hh:69
crl::multisense::Channel::getImuInfo
virtual Status getImuInfo(uint32_t &maxSamplesPerMesage, std::vector< imu::Info > &info)=0
Query detailed information about the current sensor's IMU.
crl::multisense::Status_Ok
static CRL_CONSTEXPR Status Status_Ok
Definition: MultiSenseTypes.hh:98
crl::multisense::Channel::Destroy
static void Destroy(Channel *instanceP)
Destroy a channel instance that was created using the static member function Channel::Create().
crl::multisense::Status
int32_t Status
General status typdef used as a return value for get/set crl::multisense::Channel methods.
Definition: MultiSenseTypes.hh:93
crl::multisense::Channel::setMtu
virtual Status setMtu(int32_t mtu)=0
Set the current sensor's MTU.
crl::multisense::Channel::Create
static Channel * Create(const std::string &sensorAddress)
Create a Channel instance, used to manage all communications with a sensor.