kybalg::IMUDataTime Class Reference

Structure that stores the output of IMU plus the roll and pitch from complementary filter. More...

#include <MutLocQuad.h>

List of all members.

Public Member Functions
	IMUDataTime ()
	Null constructor.
	IMUDataTime (Acceleration3D la, Velocity3D av, long int ttSec, long int ttUSec, Angle roll, Angle pitch)
	Complete constructor.
	IMUDataTime (IMUData bs, long int ttSec, long int ttUSec, Angle roll, Angle pitch)
	Complete constructor.
	~IMUDataTime ()
	Destructor.
void	setTimeSec (long int sec)
	Set the time in second.
void	setTimeUSec (long int usec)
	Set the time in microseconds.
void	setTime (long int sec, long int usec)
	Set the two time variables.
long int	getTimeSec ()
	Get the time in seconds.
long int	getTimeUSec ()
	Get the time in microseconds.
bool	overTime (long int sec, long int usec)
	Check if the time in input is before or later the actual one. True after false before.
bool	underTime (long int sec, long int usec)
	Check if the time in input is before or later the actual one. True before false after.
Decimal	getTime ()
	Get actual time in seconds.
bool	underTime (Decimal sec)
	Check if the time in input is before or later the actual one. True after false before. Input in seconds.
bool	overTime (Decimal sec)
	Check if the time in input is before or later the actual one. True before false after. Input in seconds.
void	setXLinAcc (Decimal x)
	Set linear acceleration along x axis.
void	setYLinAcc (Decimal y)
	Set linear acceleration along y axis.
void	setZLinAcc (Decimal z)
	Set linear acceleration along z axis.
void	setLinAcc (Acceleration3D la)
	Set linear acceleration.
void	setXAngVel (Decimal x)
	Set angular velocity along x axis.
void	setYAngVel (Decimal y)
	Set angular velocity along y axis.
void	setZAngVel (Decimal z)
	Set angular velocity along z axis.
void	setAngVel (Velocity3D av)
	Set angular velocity.
Acceleration3D	getLinAcc ()
	Get the linear acceleration.
Velocity3D	getAngVel ()
	Get the angular velocity.
IMUData	getIMUData ()
	Get the IMU data.
Angle	getActualRoll ()
	Returns the actual roll.
Angle	getActualPitch ()
	Returns the actual pitch.
void	setActualRoll (Angle roll)
	Set the actual roll.
void	setActualPitch (Angle pitch)
	Set the actual pitch.
void	setActualRoll (Decimal roll)
	Set the actual roll.
void	setActualPitch (Decimal pitch)
	Set the actual pitch.

---

Detailed Description

Structure that stores the output of IMU plus the roll and pitch from complementary filter.

Author:

Marco Cognetti It includes an IMUData (acceleration plus angular velocity), its time and roll and pitch via complementary filter

---

Constructor & Destructor Documentation

kybalg::IMUDataTime::IMUDataTime

(

)

Null constructor.

kybalg::IMUDataTime::IMUDataTime	(	Acceleration3D	la,
		Velocity3D	av,
		long int	ttSec,
		long int	ttUSec,
		Angle	roll,
		Angle	pitch
	)

Complete constructor.

kybalg::IMUDataTime::IMUDataTime	(	IMUData	bs,
		long int	ttSec,
		long int	ttUSec,
		Angle	roll,
		Angle	pitch
	)

Complete constructor.

kybalg::IMUDataTime::~IMUDataTime

(

)

Destructor.

---

Member Function Documentation

void kybalg::IMUDataTime::setTimeSec

(

long int

sec

)

Set the time in second.

void kybalg::IMUDataTime::setTimeUSec

(

long int

usec

)

Set the time in microseconds.

void kybalg::IMUDataTime::setTime	(	long int	sec,
		long int	usec
	)

Set the two time variables.

long int kybalg::IMUDataTime::getTimeSec

(

)

Get the time in seconds.

long int kybalg::IMUDataTime::getTimeUSec

(

)

Get the time in microseconds.

bool kybalg::IMUDataTime::overTime	(	long int	sec,
		long int	usec
	)

Check if the time in input is before or later the actual one. True after false before.

bool kybalg::IMUDataTime::underTime	(	long int	sec,
		long int	usec
	)

Check if the time in input is before or later the actual one. True before false after.

Decimal kybalg::IMUDataTime::getTime

(

)

Get actual time in seconds.

bool kybalg::IMUDataTime::underTime

(

Decimal

sec

)

Check if the time in input is before or later the actual one. True after false before. Input in seconds.

bool kybalg::IMUDataTime::overTime

(

Decimal

sec

)

Check if the time in input is before or later the actual one. True before false after. Input in seconds.

void kybalg::IMUDataTime::setXLinAcc

(

Decimal

x

)

Set linear acceleration along x axis.

void kybalg::IMUDataTime::setYLinAcc

(

Decimal

y

)

Set linear acceleration along y axis.

void kybalg::IMUDataTime::setZLinAcc

(

Decimal

z

)

Set linear acceleration along z axis.

void kybalg::IMUDataTime::setLinAcc

(

Acceleration3D

la

)

Set linear acceleration.

void kybalg::IMUDataTime::setXAngVel

(

Decimal

x

)

Set angular velocity along x axis.

void kybalg::IMUDataTime::setYAngVel

(

Decimal

y

)

Set angular velocity along y axis.

void kybalg::IMUDataTime::setZAngVel

(

Decimal

z

)

Set angular velocity along z axis.

void kybalg::IMUDataTime::setAngVel

(

Velocity3D

av

)

Set angular velocity.

Acceleration3D kybalg::IMUDataTime::getLinAcc

(

)

Get the linear acceleration.

Velocity3D kybalg::IMUDataTime::getAngVel

(

)

Get the angular velocity.

IMUData kybalg::IMUDataTime::getIMUData

(

)

Get the IMU data.

Angle kybalg::IMUDataTime::getActualRoll

(

)

Returns the actual roll.

Angle kybalg::IMUDataTime::getActualPitch

(

)

Returns the actual pitch.

void kybalg::IMUDataTime::setActualRoll

(

Angle

roll

)

Set the actual roll.

void kybalg::IMUDataTime::setActualPitch

(

Angle

pitch

)

Set the actual pitch.

void kybalg::IMUDataTime::setActualRoll

(

Decimal

roll

)

Set the actual roll.

void kybalg::IMUDataTime::setActualPitch

(

Decimal

pitch

)

Set the actual pitch.

---

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

• algorithms/MultiReg/MutLocQuad.h
• algorithms/MultiReg/MutLocQuad.cpp