Imu sensor
[Resources]

Classes which represent an Imu sensors (Inertial - Measurement - Unit). More...

Classes
class	MipResources::Imu_sensorOptions
	Options for for the Imu_sensor. More...
class	MipResources::Imu_sensorPar
	Mandatory parameters of all Imu_sensors. More...
class	MipResources::Imu_sensorVar
class	MipResources::Imu_sensor
	classes which represent an Imu_sensor (inertial - measurement - unit) More...
class	MipResources::CameraVar
	Mandatory variables of all cameras. More...
class	MipResources::Camera
	abstract Camera class. More...
Functions
string	MipResources::Imu_sensorOptions::getObjectName () const
	Gets the Name of the Options.
	MipResources::Imu_sensorVar::Imu_sensorVar ()
	Default constructor.
Time	MipResources::Imu_sensorVar::time ()
	Gets time of last measures.
void	MipResources::Imu_sensorVar::setTime (Time newTime)
	Sets time of last measures.
Position3D	MipResources::Imu_sensorVar::acceleration ()
	Gets position.
Orientation3D	MipResources::Imu_sensorVar::attitude ()
	Gets attitude.
Position3D	MipResources::Imu_sensorVar::omega ()
	Gets angular velocites in local frame.
void	MipResources::Imu_sensorVar::setAccelerationVal (Decimal x, Decimal y, Decimal z)
void	MipResources::Imu_sensorVar::setAccelerationVal (Position3D &a)
void	MipResources::Imu_sensorVar::setAttitudeVal (Decimal roll, Decimal pitch, Decimal yaw)
void	MipResources::Imu_sensorVar::setOmegaVal (Decimal x, Decimal y, Decimal z)
	MipResources::Imu_sensor::Imu_sensor ()
	Default constructor.
	MipResources::Imu_sensor::~Imu_sensor ()
	Destructor, deallocates VideoCapture structs.
	MipResources::Imu_sensor::Imu_sensor (int argc, const char *argv[])
	Constructor with options.
	MipResources::Imu_sensor::Imu_sensor (int device, Decimal fLength)
	Constructor with options.
virtual Imu_sensorVar *	MipResources::Imu_sensor::getVar (void)
	Get parameters.
virtual Imu_sensorPar *	MipResources::Imu_sensor::getPar (void)
	Get parameters.
virtual bool	MipResources::Imu_sensor::readAcceleration ()=0
	Gets position.
virtual bool	MipResources::Imu_sensor::readAttitude ()=0
	Gets attitude.
virtual bool	MipResources::Imu_sensor::readAllData ()=0
	Read all data of interest.
Variables
Position3D	MipResources::Imu_sensorVar::_acceleration
	Actual acceleration of robot in global frame.
Orientation3D	MipResources::Imu_sensorVar::_attitude
	Attitude values in global frame.
Position3D	MipResources::Imu_sensorVar::_omega
	Attitude angular velocities in global frame.
pthread_mutex_t	MipResources::Imu_sensorVar::_varMutex
Imu_sensorPar *	MipResources::Imu_sensor::_par
Imu_sensorVar *	MipResources::Imu_sensor::_var

---

Detailed Description

Classes which represent an Imu sensors (Inertial - Measurement - Unit).

---

Function Documentation

Position3D MipResources::Imu_sensorVar::acceleration

(

)

[inherited]

Gets position.

Returns:

Position in global frame.

Orientation3D MipResources::Imu_sensorVar::attitude

(

)

[inherited]

Gets attitude.

Returns:

Attitude in global frame.

string MipResources::Imu_sensorOptions::getObjectName

(

)

const [inline, virtual, inherited]

Gets the Name of the Options.

Returns:

The name the Options.

Implements Options.

virtual Imu_sensorPar* MipResources::Imu_sensor::getPar

(

void

)

[inline, virtual, inherited]

Get parameters.

Returns:

Pointer to the Camera parameters

virtual Imu_sensorVar* MipResources::Imu_sensor::getVar

(

void

)

[inline, virtual, inherited]

Get parameters.

Returns:

Pointer to the Camera parameters

MipResources::Imu_sensor::Imu_sensor	(	int	device,
		Decimal	fLength
	)			[inherited]

Constructor with options.

Note:

This constructor create a camera from a video device.

MipResources::Imu_sensor::Imu_sensor	(	int	argc,
		const char *	argv[]
	)			[inherited]

Constructor with options.

Note:

This is the constructor called using the scheduler. options constructor (this is the constructor called using the scheduler)

MipResources::Imu_sensor::Imu_sensor

(

)

[inline, inherited]

Default constructor.

Note:

Not used.

MipResources::Imu_sensorVar::Imu_sensorVar

(

)

[inherited]

Default constructor.

Position3D MipResources::Imu_sensorVar::omega

(

)

[inherited]

Gets angular velocites in local frame.

Returns:

Angular velocites in local frame.

virtual bool MipResources::Imu_sensor::readAcceleration

(

)

[pure virtual, inherited]

Gets position.

virtual bool MipResources::Imu_sensor::readAllData

(

)

[pure virtual, inherited]

Read all data of interest.

virtual bool MipResources::Imu_sensor::readAttitude

(

)

[pure virtual, inherited]

Gets attitude.

void MipResources::Imu_sensorVar::setAccelerationVal

(

Position3D &

a

)

[inherited]

void MipResources::Imu_sensorVar::setAccelerationVal	(	Decimal	x,
		Decimal	y,
		Decimal	z
	)			[inherited]

void MipResources::Imu_sensorVar::setAttitudeVal	(	Decimal	roll,
		Decimal	pitch,
		Decimal	yaw
	)			[inherited]

void MipResources::Imu_sensorVar::setOmegaVal	(	Decimal	x,
		Decimal	y,
		Decimal	z
	)			[inherited]

void MipResources::Imu_sensorVar::setTime

(

Time

newTime

)

[inherited]

Sets time of last measures.

Parameters:

t

New time value.

Time MipResources::Imu_sensorVar::time

(

)

[inherited]

Gets time of last measures.

Returns:

Time variable.

MipResources::Imu_sensor::~Imu_sensor

(

)

[inherited]

Destructor, deallocates VideoCapture structs.

---

Variable Documentation

Position3D MipResources::Imu_sensorVar::_acceleration [protected, inherited]

Actual acceleration of robot in global frame.

Orientation3D MipResources::Imu_sensorVar::_attitude [protected, inherited]

Attitude values in global frame.

Position3D MipResources::Imu_sensorVar::_omega [protected, inherited]

Attitude angular velocities in global frame.

Imu_sensorPar* MipResources::Imu_sensor::_par [protected, inherited]

Abstract Camera parameters.

Imu_sensorVar* MipResources::Imu_sensor::_var [protected, inherited]

Abstract Camera variables.

pthread_mutex_t MipResources::Imu_sensorVar::_varMutex [protected, inherited]