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mtwsdidata.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef MTWSDIDATA_H
10 #define MTWSDIDATA_H
11 
12 #include <xsens/pstdint.h>
13 #include <xsens/xsvector3.h>
14 #include <xsens/xsquaternion.h>
15 #include <xsens/xsdeviceid.h>
16 
17 struct XsRange;
18 
19 struct MtwSdiData
20 {
21  /** The ID of the device that generated the data */
23  /** Indicates if the time sync is in order (unused) */
25  /** The first frame number of the SDI interval. The time of the interval is
26  * [first, last) */
28  /** The last frame number of the SDI interval. The time of the interval is
29  * [first, last) */
31  /** The gyroscope bias used during the SDI interval */
33  /** The orientation increment (delta Q) over the interval */
35  /** The velocity increment (delta V) over the interval */
37  /** reserved */
39  /** The barometer value during the interval */
40  double m_barometer;
41  /** The magnetometer values during the interval */
43  /** The Received Signal Strength Indication (RSSI) of the message */
45 
46  MtwSdiData();
47  MtwSdiData(const MtwSdiData& other);
48  ~MtwSdiData();
49  const MtwSdiData& operator=(const MtwSdiData& other);
50 
51  bool empty() const;
52  bool containsAidingData() const;
55  double pressure() const;
56  XsVector magneticField() const;
57  XsVector currentBias() const;
58  XsRange frameRange() const;
59  double rssi() const;
60 };
61 
62 #endif // file guard
double rssi() const
Get the rssi of the received strapdown integration data.
Definition: mtwsdidata.cpp:119
unsigned __int16 uint16_t
Definition: rptypes.h:44
XsVector3 m_currentBias
The gyroscope bias used during the SDI interval.
Definition: mtwsdidata.h:32
XsVector velocityIncrement() const
Get the velocity increment value.
Definition: mtwsdidata.cpp:84
XsQuaternion orientationIncrement() const
Get the orientation increment value.
Definition: mtwsdidata.cpp:77
Class to store strapdown integration data.
Definition: mtwsdidata.h:19
const MtwSdiData & operator=(const MtwSdiData &other)
Assign other to this.
Definition: mtwsdidata.cpp:50
signed char int8_t
Definition: rptypes.h:40
bool empty() const
Test if this is a null Awinda object.
Definition: mtwsdidata.cpp:68
unsigned char uint8_t
Definition: rptypes.h:41
XsDeviceId m_deviceId
The ID of the device that generated the data.
Definition: mtwsdidata.h:22
uint16_t m_firstFrameNumber
The first frame number of the SDI interval.
Definition: mtwsdidata.h:27
XsVector3 m_velocityIncrement
The velocity increment (delta V) over the interval.
Definition: mtwsdidata.h:36
XsVector currentBias() const
Get the current gyroscope bias value.
Definition: mtwsdidata.cpp:105
XsVector magneticField() const
Get the magnetic field value.
Definition: mtwsdidata.cpp:98
double m_barometer
The barometer value during the interval.
Definition: mtwsdidata.h:40
int8_t m_rssi
The Received Signal Strength Indication (RSSI) of the message.
Definition: mtwsdidata.h:44
MtwSdiData()
Construct an empty strapdown integration data object.
Definition: mtwsdidata.cpp:20
XsVector3 m_magnetoMeter
The magnetometer values during the interval.
Definition: mtwsdidata.h:42
bool containsAidingData() const
Test if strapdown integration data is available.
Definition: mtwsdidata.cpp:70
uint16_t m_lastFrameNumber
The last frame number of the SDI interval.
Definition: mtwsdidata.h:30
~MtwSdiData()
Destroy the strapdown integration data structure.
Definition: mtwsdidata.cpp:48
uint8_t m_timeSync
Indicates if the time sync is in order (unused)
Definition: mtwsdidata.h:24
double pressure() const
Get the pressure as measured by the barometer in hPa.
Definition: mtwsdidata.cpp:91
XsQuaternion m_orientationIncrement
The orientation increment (delta Q) over the interval.
Definition: mtwsdidata.h:34
bool m_aidingData
reserved
Definition: mtwsdidata.h:38
XsRange frameRange() const
Get the frame range of the current strapdown integration data.
Definition: mtwsdidata.cpp:112



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