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< RateEntry >	rates
	The various rates available for a specific IMU source. More...

std::vector< RangeEntry >	ranges
	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
crl::multisense::Channel* channel;
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
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query imu info");
}
 
//
// Use the imu info...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

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:

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Classes