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xsens::Packet Class Reference

Detailed Description

A structure containing MT data + timestamp and formatting information.

Definition at line 24 of file cmtpacket.h.

#include <xSens_MT3/cmtpacket.h>

Classes

struct  PacketInfo
 Contains information about data in the packet and the format of that data. More...
 

Public Member Functions

 Packet (uint16_t items, bool xbus)
 
 Packet (const Packet &pack)
 
 ~Packet ()
 
void operator= (const Packet &pack)
 
bool setDataFormat (const CmtDataFormat &format, const uint16_t index=0)
 
bool setDataFormat (const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index=0)
 
CmtDataFormat getDataFormat (const uint16_t index=0) const
 
void setXbus (bool xbus, bool convert=false)
 
bool getXbus (void) const
 
uint16_t getDataSize (const uint16_t index=0) const
 Return the data size. More...
 
uint16_t getFPValueSize (const uint16_t index) const
 Return the floating/fixed point value size. More...
 
CmtShortVector getRawAcc (const uint16_t index=0) const
 Return the Raw Accelerometer component of a data item. More...
 
bool containsRawAcc (const uint16_t index=0) const
 Check if data item contains Raw Accelerometer data. More...
 
bool updateRawAcc (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Accelerometer data for the item. More...
 
CmtShortVector getRawGyr (const uint16_t index=0) const
 Return the Raw Gyroscope component of a data item. More...
 
bool containsRawGyr (const uint16_t index=0) const
 Check if data item contains Raw Gyroscope data. More...
 
bool updateRawGyr (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Gyroscope data for the item. More...
 
CmtShortVector getRawMag (const uint16_t index=0) const
 Return the Raw Magnetometer component of a data item. More...
 
bool containsRawMag (const uint16_t index=0) const
 Check if data item contains Raw Magnetometer data. More...
 
bool updateRawMag (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Magnetometer data for the item. More...
 
uint16_t getRawTemp (const uint16_t index=0) const
 Return the Raw Temperature component of a data item. More...
 
bool containsRawTemp (const uint16_t index=0) const
 Check if data item contains Raw Temperature data. More...
 
bool updateRawTemp (uint16_t temp, const uint16_t index=0)
 Add/update Raw Temperature data for the item. More...
 
CmtRawData getRawData (const uint16_t index=0) const
 Return the Raw Data component of a data item. More...
 
bool containsRawData (const uint16_t index=0) const
 Check if data item contains Raw Data. More...
 
bool updateRawData (const CmtRawData &data, const uint16_t index=0)
 Add/update Raw Data for the item. More...
 
CmtRawGpsData getRawGpsData (const uint16_t index=0) const
 Return the Raw GpsPrint Data component of a data item. TODO: Implement in COM interface!!! More...
 
bool containsRawGpsData (const uint16_t index=0) const
 Check if data item contains Raw GpsPrint Data. More...
 
bool updateRawGpsData (const CmtRawGpsData &data, const uint16_t index=0)
 Add/update Raw GpsPrint Data for the item. More...
 
double getTemp (const uint16_t index=0) const
 Return the Temperature component of a data item. More...
 
bool containsTemp (const uint16_t index=0) const
 Check if data item contains Temperature data. More...
 
bool updateTemp (const double &temp, const uint16_t index=0)
 Add/update Calibrated Accelerometer data for the item. More...
 
CmtVector getCalAcc (const uint16_t index=0) const
 Return the Calibrated Accelerometer component of a data item. More...
 
bool containsCalAcc (const uint16_t index=0) const
 Check if data item contains Calibrated Accelerometer data. More...
 
bool updateCalAcc (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Accelerometer data for the item. More...
 
CmtVector getCalGyr (const uint16_t index=0) const
 Return the Calibrated Gyroscope component of a data item. More...
 
bool containsCalGyr (const uint16_t index=0) const
 Check if data item contains Calibrated Gyroscope data. More...
 
bool updateCalGyr (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Gyroscope data for the item. More...
 
CmtVector getCalMag (const uint16_t index=0) const
 Return the Calibrated Magnetometer component of a data item. More...
 
bool containsCalMag (const uint16_t index=0) const
 Check if data item contains Calibrated Magnetometer data. More...
 
bool updateCalMag (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Magnetometer data for the item. More...
 
CmtCalData getCalData (const uint16_t index=0) const
 Return the Calibrated Data component of a data item. More...
 
bool containsCalData (const uint16_t index=0) const
 Check if data item contains Calibrated Data. More...
 
bool updateCalData (const CmtCalData &data, const uint16_t index=0)
 Add/update Calibrated Data for the item. More...
 
CmtQuat getOriQuat (const uint16_t index=0) const
 Return the Orientation component of a data item as a Quaternion. More...
 
bool containsOriQuat (const uint16_t index=0) const
 Check if data item contains Quaternion Orientation data. More...
 
bool updateOriQuat (const CmtQuat &data, const uint16_t index=0)
 Add/update Quaternion Orientation data for the item. More...
 
CmtEuler getOriEuler (const uint16_t index=0) const
 Return the Orientation component of a data item as Euler angles. More...
 
bool containsOriEuler (const uint16_t index=0) const
 Check if data item contains Euler Orientation data. More...
 
bool updateOriEuler (const CmtEuler &data, const uint16_t index=0)
 Add/update Euler Orientation data for the item. More...
 
CmtMatrix getOriMatrix (const uint16_t index=0) const
 Return the Orientation component of a data item as an Orientation Matrix. More...
 
bool containsOriMatrix (const uint16_t index=0) const
 Check if data item contains Matrix Orientation data. More...
 
bool updateOriMatrix (const CmtMatrix &data, const uint16_t index=0)
 Add/update Matrix Orientation data for the item. More...
 
CmtAnalogInData getAnalogIn1 (const uint16_t index=0) const
 Return the AnalogIn 1 component of a data item. More...
 
bool containsAnalogIn1 (const uint16_t index=0) const
 Check if data item contains AnalogIn 1. More...
 
bool updateAnalogIn1 (const CmtAnalogInData &data, const uint16_t index=0)
 Add/update AnalogIn 1 for the item. More...
 
CmtAnalogInData getAnalogIn2 (const uint16_t index=0) const
 Return the AnalogIn 2 component of a data item. More...
 
bool containsAnalogIn2 (const uint16_t index=0) const
 Check if data item contains AnalogIn 2. More...
 
bool updateAnalogIn2 (const CmtAnalogInData &data, const uint16_t index=0)
 Add/update AnalogIn 2 for the item. More...
 
CmtVector getPositionLLA (const uint16_t index=0) const
 Return the Position Lat Lon Alt component of a data item. More...
 
bool containsPositionLLA (const uint16_t index=0) const
 Check if data item contains Position Lat Lon Alt. More...
 
bool updatePositionLLA (const CmtVector &data, const uint16_t index=0)
 Add/update Position Lat Lon Alt for the item. More...
 
CmtVector getVelocity (const uint16_t index=0) const
 Return the Velocity component of a data item. More...
 
bool containsVelocity (const uint16_t index=0) const
 Check if data item contains Velocity. More...
 
bool updateVelocity (const CmtVector &data, const uint16_t index=0)
 Add/update Velocity for the item. More...
 
uint8_t getStatus (const uint16_t index=0) const
 Return the Status component of a data item. More...
 
bool containsStatus (const uint16_t index=0) const
 Check if data item contains Velocity. More...
 
bool updateStatus (const uint8_t data, const uint16_t index=0)
 Add/update Status information for the item. More...
 
uint16_t getSampleCounter (const uint16_t index=0) const
 Return the Sample Counter component of the packet. More...
 
bool containsSampleCounter (const uint16_t index=0) const
 Check if data item contains Sample Counter. More...
 
bool updateSampleCounter (uint16_t counter, const uint16_t index=0)
 Add/update Sample Counter for all items. More...
 
CmtTimeStamp getRtc (const uint16_t index=0) const
 Return the RTC of the packet. More...
 
CmtVector getAccG (const uint16_t index=0) const
 Return the XKF-3 Acc-G component of the packet. More...
 
bool containsAccG (const uint16_t index=0) const
 Check if data item contains XKF-3 Acc-G data. More...
 
bool updateAccG (const CmtVector &g, const uint16_t index=0)
 Add/update XKF-3 Acc-G data for the item. More...
 

Public Attributes

uint16_t m_itemCount
 The number of data items in the message. More...
 
Message m_msg
 The message. More...
 
TimeStamp m_rtc
 Sample time in ms, based on the sample counter. More...
 
TimeStamp m_toa
 Time of arrival. More...
 

Protected Attributes

struct xsens::Packet::PacketInfom_infoList
 
CmtDataFormatm_formatList
 A list of the formats of the data items. More...
 
bool m_xm
 Indicates that xbus-formatting is used. More...
 

Constructor & Destructor Documentation

◆ Packet() [1/2]

xsens::Packet::Packet ( uint16_t  items,
bool  xbus 
)

Definition at line 48 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, m_rtc, m_toa, m_xm, and PACKETLOG.

◆ Packet() [2/2]

xsens::Packet::Packet ( const Packet pack)

Definition at line 1266 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, and PACKETLOG.

◆ ~Packet()

xsens::Packet::~Packet ( )

Definition at line 61 of file cmtpacket.cpp.

References m_formatList, m_infoList, and PACKETLOG.

Member Function Documentation

◆ containsAccG()

bool xsens::Packet::containsAccG ( const uint16_t  index = 0) const

Check if data item contains XKF-3 Acc-G data.

Definition at line 1238 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAccG().

◆ containsAnalogIn1()

bool xsens::Packet::containsAnalogIn1 ( const uint16_t  index = 0) const

Check if data item contains AnalogIn 1.

Definition at line 1019 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn1().

◆ containsAnalogIn2()

bool xsens::Packet::containsAnalogIn2 ( const uint16_t  index = 0) const

Check if data item contains AnalogIn 2.

Definition at line 1053 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn2().

◆ containsCalAcc()

bool xsens::Packet::containsCalAcc ( const uint16_t  index = 0) const

Check if data item contains Calibrated Accelerometer data.

Definition at line 724 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalAcc().

◆ containsCalData()

bool xsens::Packet::containsCalData ( const uint16_t  index = 0) const

Check if data item contains Calibrated Data.

Definition at line 842 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalData().

◆ containsCalGyr()

bool xsens::Packet::containsCalGyr ( const uint16_t  index = 0) const

Check if data item contains Calibrated Gyroscope data.

Definition at line 763 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalGyr().

◆ containsCalMag()

bool xsens::Packet::containsCalMag ( const uint16_t  index = 0) const

Check if data item contains Calibrated Magnetometer data.

Definition at line 802 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalMag().

◆ containsOriEuler()

bool xsens::Packet::containsOriEuler ( const uint16_t  index = 0) const

Check if data item contains Euler Orientation data.

Definition at line 930 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriEuler().

◆ containsOriMatrix()

bool xsens::Packet::containsOriMatrix ( const uint16_t  index = 0) const

Check if data item contains Matrix Orientation data.

Definition at line 978 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriMatrix().

◆ containsOriQuat()

bool xsens::Packet::containsOriQuat ( const uint16_t  index = 0) const

Check if data item contains Quaternion Orientation data.

Definition at line 888 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriQuat().

◆ containsPositionLLA()

bool xsens::Packet::containsPositionLLA ( const uint16_t  index = 0) const

Check if data item contains Position Lat Lon Alt.

Definition at line 1088 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getPositionLLA().

◆ containsRawAcc()

bool xsens::Packet::containsRawAcc ( const uint16_t  index = 0) const

Check if data item contains Raw Accelerometer data.

Definition at line 424 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawAcc().

◆ containsRawData()

bool xsens::Packet::containsRawData ( const uint16_t  index = 0) const

Check if data item contains Raw Data.

Definition at line 570 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawData().

◆ containsRawGpsData()

bool xsens::Packet::containsRawGpsData ( const uint16_t  index = 0) const

Check if data item contains Raw GpsPrint Data.

Definition at line 628 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawGpsData().

◆ containsRawGyr()

bool xsens::Packet::containsRawGyr ( const uint16_t  index = 0) const

Check if data item contains Raw Gyroscope data.

Definition at line 460 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawGyr().

◆ containsRawMag()

bool xsens::Packet::containsRawMag ( const uint16_t  index = 0) const

Check if data item contains Raw Magnetometer data.

Definition at line 496 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawMag().

◆ containsRawTemp()

bool xsens::Packet::containsRawTemp ( const uint16_t  index = 0) const

Check if data item contains Raw Temperature data.

Definition at line 530 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawTemp().

◆ containsSampleCounter()

bool xsens::Packet::containsSampleCounter ( const uint16_t  index = 0) const

Check if data item contains Sample Counter.

Definition at line 1197 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getSampleCounter().

◆ containsStatus()

bool xsens::Packet::containsStatus ( const uint16_t  index = 0) const

Check if data item contains Velocity.

Definition at line 1164 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getStatus().

◆ containsTemp()

bool xsens::Packet::containsTemp ( const uint16_t  index = 0) const

Check if data item contains Temperature data.

Definition at line 686 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getTemp().

◆ containsVelocity()

bool xsens::Packet::containsVelocity ( const uint16_t  index = 0) const

Check if data item contains Velocity.

Definition at line 1128 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getVelocity().

◆ getAccG()

CmtVector xsens::Packet::getAccG ( const uint16_t  index = 0) const

Return the XKF-3 Acc-G component of the packet.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1228 of file cmtpacket.cpp.

References containsAccG(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_acc_g, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

◆ getAnalogIn1()

CmtAnalogInData xsens::Packet::getAnalogIn1 ( const uint16_t  index = 0) const

Return the AnalogIn 1 component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1011 of file cmtpacket.cpp.

References containsAnalogIn1(), xsens::Message::getDataShort(), m_infoList, and m_msg.

◆ getAnalogIn2()

CmtAnalogInData xsens::Packet::getAnalogIn2 ( const uint16_t  index = 0) const

Return the AnalogIn 2 component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1045 of file cmtpacket.cpp.

References containsAnalogIn2(), xsens::Message::getDataShort(), m_infoList, and m_msg.

◆ getCalAcc()

CmtVector xsens::Packet::getCalAcc ( const uint16_t  index = 0) const

Return the Calibrated Accelerometer component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 715 of file cmtpacket.cpp.

References containsCalAcc(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calAcc, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

◆ getCalData()

CmtCalData xsens::Packet::getCalData ( const uint16_t  index = 0) const

Return the Calibrated Data component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 832 of file cmtpacket.cpp.

References containsCalData(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calData, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

◆ getCalGyr()

CmtVector xsens::Packet::getCalGyr ( const uint16_t  index = 0) const

Return the Calibrated Gyroscope component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 754 of file cmtpacket.cpp.

References containsCalGyr(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calGyr, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

◆ getCalMag()

CmtVector xsens::Packet::getCalMag ( const uint16_t  index = 0) const

Return the Calibrated Magnetometer component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 793 of file cmtpacket.cpp.

References containsCalMag(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calMag, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

◆ getDataFormat()

CmtDataFormat xsens::Packet::getDataFormat ( const uint16_t  index = 0) const

Definition at line 69 of file cmtpacket.cpp.

References m_formatList, and m_itemCount.

◆ getDataSize()

uint16_t xsens::Packet::getDataSize ( const uint16_t  index = 0) const

Return the data size.

Parameters
indexThe index of the item of which the size should be returned.

Definition at line 175 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, CMT_OUTPUTMODE_AUXILIARY, CMT_OUTPUTMODE_CALIB, CMT_OUTPUTMODE_ORIENT, CMT_OUTPUTMODE_POSITION, CMT_OUTPUTMODE_RAW, CMT_OUTPUTMODE_RAWGPSPRINT, CMT_OUTPUTMODE_STATUS, CMT_OUTPUTMODE_TEMP, CMT_OUTPUTMODE_VELOCITY, CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN1_MASK, CMT_OUTPUTSETTINGS_AUXILIARYMODE_AIN2_MASK, CMT_OUTPUTSETTINGS_CALIBMODE_ACC_MASK, CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYRMAG, CMT_OUTPUTSETTINGS_CALIBMODE_GYR_MASK, CMT_OUTPUTSETTINGS_CALIBMODE_MAG_MASK, CMT_OUTPUTSETTINGS_ORIENTMODE_EULER, CMT_OUTPUTSETTINGS_ORIENTMODE_MASK, CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX, CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION, CMT_OUTPUTSETTINGS_POSITIONMODE_LLA_WGS84, CMT_OUTPUTSETTINGS_POSITIONMODE_MASK, CMT_OUTPUTSETTINGS_TIMESTAMP_MASK, CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT, CMT_OUTPUTSETTINGS_VELOCITYMODE_MASK, CMT_OUTPUTSETTINGS_VELOCITYMODE_NED, getFPValueSize(), xsens::Packet::PacketInfo::m_acc_g, xsens::Packet::PacketInfo::m_analogIn1, xsens::Packet::PacketInfo::m_analogIn2, xsens::Packet::PacketInfo::m_calAcc, xsens::Packet::PacketInfo::m_calData, xsens::Packet::PacketInfo::m_calGyr, xsens::Packet::PacketInfo::m_calMag, m_formatList, m_infoList, m_itemCount, xsens::Packet::PacketInfo::m_offset, xsens::Packet::PacketInfo::m_oriEul, xsens::Packet::PacketInfo::m_oriMat, xsens::Packet::PacketInfo::m_oriQuat, xsens::Packet::PacketInfo::m_posLLA, xsens::Packet::PacketInfo::m_rawAcc, xsens::Packet::PacketInfo::m_rawData, xsens::Packet::PacketInfo::m_rawGpsData, xsens::Packet::PacketInfo::m_rawGpsGpsAge, xsens::Packet::PacketInfo::m_rawGpsGpsData, xsens::Packet::PacketInfo::m_rawGpsHacc, xsens::Packet::PacketInfo::m_rawGpsHeight, xsens::Packet::PacketInfo::m_rawGpsItow, xsens::Packet::PacketInfo::m_rawGpsLatitude, xsens::Packet::PacketInfo::m_rawGpsLongitude, xsens::Packet::PacketInfo::m_rawGpsPressure, xsens::Packet::PacketInfo::m_rawGpsPressureAge, xsens::Packet::PacketInfo::m_rawGpsSacc, xsens::Packet::PacketInfo::m_rawGpsVacc, xsens::Packet::PacketInfo::m_rawGpsVeld, xsens::Packet::PacketInfo::m_rawGpsVele, xsens::Packet::PacketInfo::m_rawGpsVeln, xsens::Packet::PacketInfo::m_rawGyr, xsens::Packet::PacketInfo::m_rawMag, xsens::Packet::PacketInfo::m_rawTemp, xsens::Packet::PacketInfo::m_sc, xsens::Packet::PacketInfo::m_size, xsens::Packet::PacketInfo::m_status, xsens::Packet::PacketInfo::m_temp, xsens::Packet::PacketInfo::m_velNEDorNWU, and m_xm.

Referenced by containsAccG(), containsAnalogIn1(), containsAnalogIn2(), containsCalAcc(), containsCalData(), containsCalGyr(), containsCalMag(), containsOriEuler(), containsOriMatrix(), containsOriQuat(), containsPositionLLA(), containsRawAcc(), containsRawData(), containsRawGpsData(), containsRawGyr(), containsRawMag(), containsRawTemp(), containsSampleCounter(), containsStatus(), containsTemp(), containsVelocity(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGpsData(), updateRawGyr(), updateRawMag(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), and updateVelocity().

◆ getFPValueSize()

uint16_t xsens::Packet::getFPValueSize ( const uint16_t  index) const

◆ getOriEuler()

CmtEuler xsens::Packet::getOriEuler ( const uint16_t  index = 0) const

Return the Orientation component of a data item as Euler angles.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 918 of file cmtpacket.cpp.

References containsOriEuler(), xsens::Message::getDataFPValue(), getFPValueSize(), m_formatList, m_infoList, and m_msg.

◆ getOriMatrix()

CmtMatrix xsens::Packet::getOriMatrix ( const uint16_t  index = 0) const

Return the Orientation component of a data item as an Orientation Matrix.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 962 of file cmtpacket.cpp.

References containsOriMatrix(), xsens::Message::getDataFPValue(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriMat, and CmtDataFormat::m_outputSettings.

◆ getOriQuat()

CmtQuat xsens::Packet::getOriQuat ( const uint16_t  index = 0) const

Return the Orientation component of a data item as a Quaternion.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 878 of file cmtpacket.cpp.

References containsOriQuat(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriQuat, and CmtDataFormat::m_outputSettings.

◆ getPositionLLA()

CmtVector xsens::Packet::getPositionLLA ( const uint16_t  index = 0) const

Return the Position Lat Lon Alt component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1079 of file cmtpacket.cpp.

References containsPositionLLA(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, CmtDataFormat::m_outputSettings, and xsens::Packet::PacketInfo::m_posLLA.

◆ getRawAcc()

CmtShortVector xsens::Packet::getRawAcc ( const uint16_t  index = 0) const

Return the Raw Accelerometer component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 415 of file cmtpacket.cpp.

References containsRawAcc(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawAcc.

◆ getRawData()

CmtRawData xsens::Packet::getRawData ( const uint16_t  index = 0) const

Return the Raw Data component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 556 of file cmtpacket.cpp.

References containsRawData(), xsens::Message::getDataBuffer(), m_infoList, m_msg, and swapEndian16.

◆ getRawGpsData()

CmtRawGpsData xsens::Packet::getRawGpsData ( const uint16_t  index = 0) const

Return the Raw GpsPrint Data component of a data item. TODO: Implement in COM interface!!!

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 602 of file cmtpacket.cpp.

References containsRawGpsData(), xsens::Message::getDataByte(), xsens::Message::getDataLong(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawGpsGpsData.

◆ getRawGyr()

CmtShortVector xsens::Packet::getRawGyr ( const uint16_t  index = 0) const

Return the Raw Gyroscope component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 451 of file cmtpacket.cpp.

References containsRawGyr(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawGyr.

◆ getRawMag()

CmtShortVector xsens::Packet::getRawMag ( const uint16_t  index = 0) const

Return the Raw Magnetometer component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 487 of file cmtpacket.cpp.

References containsRawMag(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawMag.

◆ getRawTemp()

uint16_t xsens::Packet::getRawTemp ( const uint16_t  index = 0) const

Return the Raw Temperature component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 523 of file cmtpacket.cpp.

References containsRawTemp(), xsens::Message::getDataShort(), m_infoList, and m_msg.

◆ getRtc()

TimeStamp xsens::Packet::getRtc ( const uint16_t  index = 0) const

Return the RTC of the packet.

Parameters
indexThe index of the item of which the data should be returned. (ignored)

Definition at line 1220 of file cmtpacket.cpp.

References m_rtc, and MRPT_UNUSED_PARAM.

◆ getSampleCounter()

uint16_t xsens::Packet::getSampleCounter ( const uint16_t  index = 0) const

Return the Sample Counter component of the packet.

Parameters
indexThe index of the item of which the data should be returned. (ignored)

Definition at line 1191 of file cmtpacket.cpp.

References containsSampleCounter(), xsens::Message::getDataShort(), m_infoList, and m_msg.

Referenced by xsens::Cmt3::fillRtc(), and setXbus().

◆ getStatus()

uint8_t xsens::Packet::getStatus ( const uint16_t  index = 0) const

Return the Status component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1158 of file cmtpacket.cpp.

References containsStatus(), xsens::Message::getDataByte(), m_infoList, and m_msg.

◆ getTemp()

double xsens::Packet::getTemp ( const uint16_t  index = 0) const

Return the Temperature component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 679 of file cmtpacket.cpp.

References containsTemp(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, and m_msg.

◆ getVelocity()

CmtVector xsens::Packet::getVelocity ( const uint16_t  index = 0) const

Return the Velocity component of a data item.

Parameters
indexThe index of the item of which the data should be returned.

Definition at line 1118 of file cmtpacket.cpp.

References containsVelocity(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, CmtDataFormat::m_outputSettings, and xsens::Packet::PacketInfo::m_velNEDorNWU.

◆ getXbus()

bool xsens::Packet::getXbus ( void  ) const

Definition at line 105 of file cmtpacket.cpp.

References m_xm.

◆ operator=()

void xsens::Packet::operator= ( const Packet pack)

Definition at line 1276 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, m_msg, m_rtc, m_toa, m_xm, and PACKETLOG.

◆ setDataFormat() [1/2]

bool xsens::Packet::setDataFormat ( const CmtDataFormat format,
const uint16_t  index = 0 
)

Definition at line 80 of file cmtpacket.cpp.

References m_formatList, m_infoList, and m_itemCount.

Referenced by xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

◆ setDataFormat() [2/2]

bool xsens::Packet::setDataFormat ( const CmtOutputMode  outputMode,
const CmtOutputSettings  outputSettings,
const uint16_t  index = 0 
)

◆ setXbus()

void xsens::Packet::setXbus ( bool  xbus,
bool  convert = false 
)

◆ updateAccG()

bool xsens::Packet::updateAccG ( const CmtVector g,
const uint16_t  index = 0 
)

◆ updateAnalogIn1()

bool xsens::Packet::updateAnalogIn1 ( const CmtAnalogInData data,
const uint16_t  index = 0 
)

◆ updateAnalogIn2()

bool xsens::Packet::updateAnalogIn2 ( const CmtAnalogInData data,
const uint16_t  index = 0 
)

◆ updateCalAcc()

bool xsens::Packet::updateCalAcc ( const CmtVector vec,
const uint16_t  index = 0 
)

◆ updateCalData()

bool xsens::Packet::updateCalData ( const CmtCalData data,
const uint16_t  index = 0 
)

◆ updateCalGyr()

bool xsens::Packet::updateCalGyr ( const CmtVector vec,
const uint16_t  index = 0 
)

◆ updateCalMag()

bool xsens::Packet::updateCalMag ( const CmtVector vec,
const uint16_t  index = 0 
)

◆ updateOriEuler()

bool xsens::Packet::updateOriEuler ( const CmtEuler data,
const uint16_t  index = 0 
)

◆ updateOriMatrix()

bool xsens::Packet::updateOriMatrix ( const CmtMatrix data,
const uint16_t  index = 0 
)

◆ updateOriQuat()

bool xsens::Packet::updateOriQuat ( const CmtQuat data,
const uint16_t  index = 0 
)

◆ updatePositionLLA()

bool xsens::Packet::updatePositionLLA ( const CmtVector data,
const uint16_t  index = 0 
)

◆ updateRawAcc()

bool xsens::Packet::updateRawAcc ( const CmtShortVector vec,
const uint16_t  index = 0 
)

◆ updateRawData()

bool xsens::Packet::updateRawData ( const CmtRawData data,
const uint16_t  index = 0 
)

◆ updateRawGpsData()

bool xsens::Packet::updateRawGpsData ( const CmtRawGpsData data,
const uint16_t  index = 0 
)

◆ updateRawGyr()

bool xsens::Packet::updateRawGyr ( const CmtShortVector vec,
const uint16_t  index = 0 
)

◆ updateRawMag()

bool xsens::Packet::updateRawMag ( const CmtShortVector vec,
const uint16_t  index = 0 
)

◆ updateRawTemp()

bool xsens::Packet::updateRawTemp ( uint16_t  temp,
const uint16_t  index = 0 
)

◆ updateSampleCounter()

bool xsens::Packet::updateSampleCounter ( uint16_t  counter,
const uint16_t  index = 0 
)

◆ updateStatus()

bool xsens::Packet::updateStatus ( const uint8_t  data,
const uint16_t  index = 0 
)

◆ updateTemp()

bool xsens::Packet::updateTemp ( const double &  temp,
const uint16_t  index = 0 
)

◆ updateVelocity()

bool xsens::Packet::updateVelocity ( const CmtVector data,
const uint16_t  index = 0 
)

Member Data Documentation

◆ m_formatList

CmtDataFormat* xsens::Packet::m_formatList
protected

◆ m_infoList

struct xsens::Packet::PacketInfo* xsens::Packet::m_infoList
protected

◆ m_itemCount

uint16_t xsens::Packet::m_itemCount

The number of data items in the message.

Definition at line 71 of file cmtpacket.h.

Referenced by getDataFormat(), getDataSize(), operator=(), Packet(), xsens::Cmt3::readDataPacket(), setDataFormat(), and xsens::Cmt3::waitForDataMessage().

◆ m_msg

Message xsens::Packet::m_msg

◆ m_rtc

TimeStamp xsens::Packet::m_rtc

Sample time in ms, based on the sample counter.

Definition at line 73 of file cmtpacket.h.

Referenced by xsens::Cmt3::fillRtc(), getRtc(), operator=(), and Packet().

◆ m_toa

TimeStamp xsens::Packet::m_toa

◆ m_xm

bool xsens::Packet::m_xm
protected

Indicates that xbus-formatting is used.

Definition at line 68 of file cmtpacket.h.

Referenced by getDataSize(), getXbus(), operator=(), Packet(), and setXbus().




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