Detailed Description

Class to store strapdown integration data.

Note: Intended for internal use.

Definition at line 19 of file mtwsdidata.h.

#include <xSens_MT4/xcommunication/include/xsens/mtwsdidata.h>

Public Member Functions
	MtwSdiData ()
	Construct an empty strapdown integration data object. More...

	MtwSdiData (const MtwSdiData &other)
	Construct a copy of other. More...

	~MtwSdiData ()
	Destroy the strapdown integration data structure. More...

const MtwSdiData &	operator= (const MtwSdiData &other)
	Assign other to this. More...

bool	empty () const
	Test if this is a null Awinda object. More...

bool	containsAidingData () const
	Test if strapdown integration data is available. More...

XsQuaternion	orientationIncrement () const
	Get the orientation increment value. More...

XsVector	velocityIncrement () const
	Get the velocity increment value. More...

double	pressure () const
	Get the pressure as measured by the barometer in hPa. More...

XsVector	magneticField () const
	Get the magnetic field value. More...

XsVector	currentBias () const
	Get the current gyroscope bias value. More...

XsRange	frameRange () const
	Get the frame range of the current strapdown integration data. More...

double	rssi () const
	Get the rssi of the received strapdown integration data. More...

Public Attributes
XsDeviceId	m_deviceId
	The ID of the device that generated the data. More...

uint8_t	m_timeSync
	Indicates if the time sync is in order (unused) More...

uint16_t	m_firstFrameNumber
	The first frame number of the SDI interval. The time of the interval is [first, last) More...

uint16_t	m_lastFrameNumber
	The last frame number of the SDI interval. The time of the interval is [first, last) More...

XsVector3	m_currentBias
	The gyroscope bias used during the SDI interval. More...

XsQuaternion	m_orientationIncrement
	The orientation increment (delta Q) over the interval. More...

XsVector3	m_velocityIncrement
	The velocity increment (delta V) over the interval. More...

bool	m_aidingData
	reserved More...

double	m_barometer
	The barometer value during the interval. More...

XsVector3	m_magnetoMeter
	The magnetometer values during the interval. More...

int8_t	m_rssi
	The Received Signal Strength Indication (RSSI) of the message. More...

Constructor & Destructor Documentation

◆ MtwSdiData() [1/2]

MtwSdiData::MtwSdiData ( )

Construct an empty strapdown integration data object.

Definition at line 20 of file mtwsdidata.cpp.

◆ MtwSdiData() [2/2]

MtwSdiData::MtwSdiData ( const MtwSdiData & other )

Construct a copy of other.

Definition at line 32 of file mtwsdidata.cpp.

◆ ~MtwSdiData()

MtwSdiData::~MtwSdiData ( )

Destroy the strapdown integration data structure.

Definition at line 48 of file mtwsdidata.cpp.

Member Function Documentation

◆ containsAidingData()

bool MtwSdiData::containsAidingData ( ) const

Test if strapdown integration data is available.

Definition at line 79 of file mtwsdidata.cpp.

References empty(), and m_aidingData.

◆ currentBias()

XsVector MtwSdiData::currentBias ( ) const

Get the current gyroscope bias value.

Definition at line 119 of file mtwsdidata.cpp.

References empty(), and m_currentBias.

◆ empty()

bool MtwSdiData::empty ( ) const

inline

Test if this is a null Awinda object.

Definition at line 73 of file mtwsdidata.cpp.

References m_deviceId.

Referenced by containsAidingData(), currentBias(), frameRange(), magneticField(), orientationIncrement(), pressure(), rssi(), and velocityIncrement().

◆ frameRange()

XsRange MtwSdiData::frameRange ( ) const

Get the frame range of the current strapdown integration data.

Definition at line 127 of file mtwsdidata.cpp.

References empty(), m_firstFrameNumber, and m_lastFrameNumber.

◆ magneticField()

XsVector MtwSdiData::magneticField ( ) const

Get the magnetic field value.

Definition at line 111 of file mtwsdidata.cpp.

References empty(), and m_magnetoMeter.

◆ operator=()

const MtwSdiData & MtwSdiData::operator= ( const MtwSdiData & other )

Assign other to this.

Definition at line 53 of file mtwsdidata.cpp.

References m_aidingData, m_barometer, m_currentBias, m_deviceId, m_firstFrameNumber, m_lastFrameNumber, m_magnetoMeter, m_orientationIncrement, m_rssi, m_timeSync, and m_velocityIncrement.

◆ orientationIncrement()

XsQuaternion MtwSdiData::orientationIncrement ( ) const

Get the orientation increment value.

Definition at line 87 of file mtwsdidata.cpp.

References empty(), and m_orientationIncrement.

◆ pressure()

double MtwSdiData::pressure ( ) const

Get the pressure as measured by the barometer in hPa.

Definition at line 103 of file mtwsdidata.cpp.

References empty(), and m_barometer.

◆ rssi()

double MtwSdiData::rssi ( ) const

Get the rssi of the received strapdown integration data.

Definition at line 135 of file mtwsdidata.cpp.

References empty(), m_rssi, and XS_RSSI_UNKNOWN.

◆ velocityIncrement()

XsVector MtwSdiData::velocityIncrement ( ) const

Get the velocity increment value.

Definition at line 95 of file mtwsdidata.cpp.

References empty(), and m_velocityIncrement.

Member Data Documentation

◆ m_aidingData

bool MtwSdiData::m_aidingData

reserved

Definition at line 28 of file mtwsdidata.h.

Referenced by containsAidingData(), and operator=().

◆ m_barometer

double MtwSdiData::m_barometer

The barometer value during the interval.

Definition at line 29 of file mtwsdidata.h.

Referenced by operator=(), pressure(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_currentBias

XsVector3 MtwSdiData::m_currentBias

The gyroscope bias used during the SDI interval.

Definition at line 25 of file mtwsdidata.h.

Referenced by currentBias(), and operator=().

◆ m_deviceId

XsDeviceId MtwSdiData::m_deviceId

The ID of the device that generated the data.

Definition at line 21 of file mtwsdidata.h.

Referenced by empty(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_firstFrameNumber

uint16_t MtwSdiData::m_firstFrameNumber

The first frame number of the SDI interval. The time of the interval is [first, last)

Definition at line 23 of file mtwsdidata.h.

Referenced by frameRange(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_lastFrameNumber

uint16_t MtwSdiData::m_lastFrameNumber

The last frame number of the SDI interval. The time of the interval is [first, last)

Definition at line 24 of file mtwsdidata.h.

Referenced by frameRange(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_magnetoMeter

XsVector3 MtwSdiData::m_magnetoMeter

The magnetometer values during the interval.

Definition at line 30 of file mtwsdidata.h.

Referenced by magneticField(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_orientationIncrement

XsQuaternion MtwSdiData::m_orientationIncrement

The orientation increment (delta Q) over the interval.

Definition at line 26 of file mtwsdidata.h.

Referenced by operator=(), and orientationIncrement().

◆ m_rssi

int8_t MtwSdiData::m_rssi

The Received Signal Strength Indication (RSSI) of the message.

Definition at line 31 of file mtwsdidata.h.

Referenced by operator=(), rssi(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_timeSync

uint8_t MtwSdiData::m_timeSync

Indicates if the time sync is in order (unused)

Definition at line 22 of file mtwsdidata.h.

Referenced by operator=().

◆ m_velocityIncrement

XsVector3 MtwSdiData::m_velocityIncrement

The velocity increment (delta V) over the interval.

Definition at line 27 of file mtwsdidata.h.

Referenced by operator=(), and velocityIncrement().