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. More... | |
| uint16_t | m_lastFrameNumber |
| The last frame number of the SDI interval. 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 70 of file mtwsdidata.cpp.
References empty(), and m_aidingData.
◆ currentBias()
| XsVector MtwSdiData::currentBias | ( | ) | const |
Get the current gyroscope bias value.
Definition at line 105 of file mtwsdidata.cpp.
References empty(), and m_currentBias.
◆ empty()
|
inline |
Test if this is a null Awinda object.
Definition at line 68 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 112 of file mtwsdidata.cpp.
References empty(), m_firstFrameNumber, and m_lastFrameNumber.
◆ magneticField()
| XsVector MtwSdiData::magneticField | ( | ) | const |
Get the magnetic field value.
Definition at line 98 of file mtwsdidata.cpp.
References empty(), and m_magnetoMeter.
◆ operator=()
| const MtwSdiData & MtwSdiData::operator= | ( | const MtwSdiData & | other | ) |
Assign other to this.
Definition at line 50 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 77 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 91 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 119 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 84 of file mtwsdidata.cpp.
References empty(), and m_velocityIncrement.
Member Data Documentation
◆ m_aidingData
| bool MtwSdiData::m_aidingData |
reserved
Definition at line 38 of file mtwsdidata.h.
Referenced by containsAidingData(), and operator=().
◆ m_barometer
| double MtwSdiData::m_barometer |
The barometer value during the interval.
Definition at line 40 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 32 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 22 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 27 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 30 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 42 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 34 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 44 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 24 of file mtwsdidata.h.
Referenced by operator=().
◆ m_velocityIncrement
| XsVector3 MtwSdiData::m_velocityIncrement |
The velocity increment (delta V) over the interval.
Definition at line 36 of file mtwsdidata.h.
Referenced by operator=(), and velocityIncrement().