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legacydatapacket.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 LEGACYDATAPACKET_H
10 #define LEGACYDATAPACKET_H
11 
12 #include <xsens/pstdint.h>
13 #include <xsens/xstypedefs.h>
14 #include <xsens/xsdataformat.h>
15 #include <xsens/xsdeviceid.h>
16 #include <xsens/xstimestamp.h>
17 #include <xsens/xsmessage.h>
18 
19 //! Indicates that a data item is not available in the packet
20 #define XS_DATA_ITEM_NOT_AVAILABLE 65535
21 
22 struct XsVector;
23 struct PacketInfo;
24 struct XsUShortVector;
25 struct XsScrData;
26 struct XsCalibratedData;
27 struct XsGpsPvtData;
28 struct XsPressure;
29 struct MtwSdiData;
30 struct XsQuaternion;
31 struct XsMatrix;
32 struct XsEuler;
33 struct XsAnalogInData;
34 struct XsUtcTime;
35 
36 //! \brief An MT timestamp (sample count)
37 typedef uint16_t XsMtTimeStamp;
38 
39 struct PacketFixedData;
40 
42 {
43 public:
44 
46  LegacyDataPacket(uint16_t count, bool xbus);
49 
50  const LegacyDataPacket& operator = (const LegacyDataPacket& pack);
51 
52  uint16_t itemCount(void) const;
54 
55  XsTimeStamp timeOfArrival(void) const;
57 
58  XsTimeStamp rtc(void) const;
59  void setRtc(XsTimeStamp rtc);
60 
61  int64_t largePacketCounter(void) const;
63 
64  XsMessage message(void) const;
65  void setMessage(const XsMessage& message);
66  XsMessage originalMessage(void) const;
67 
69 
70  bool setDataFormat(const XsDataFormat& format, int32_t index = 0);
71  bool setDataFormat(XsOutputMode outputMode, XsOutputSettings outputSettings, int32_t index = 0);
73 
74  void setXbusSystem(bool xbus, bool convert = false);
75  bool isXbusSystem(void) const;
76 
77  int32_t findDeviceId(XsDeviceId dev) const;
80 
81  uint16_t frameCounter() const;
82 
83  XsSize dataSize(int32_t index=0) const;
84 
85  void updateInfoList();
86 
87  //PacketFixedData takePacketFixedData();
88  //void putPacketFixedData(const PacketFixedData& data);
89 
91 
94  bool setRawAcceleration(const XsUShortVector& vec, int32_t index=0);
95  /*! \brief Return the Raw Gyroscope component of a data item.
96  \param index The index of the item of which the data should be returned.
97  \returns The Raw Gyroscope component of a data item.
98  */
100  //! Check if data item contains Raw Gyroscope data
101  bool containsRawGyroscopeData(int32_t index=0) const;
102  //! Add/update Raw Gyroscope data for the item
103  bool setRawGyroscopeData(const XsUShortVector& vec, int32_t index=0);
104  /*! \brief Return the Raw Magnetometer component of a data item.
105  \param index The index of the item of which the data should be returned.
106  \returns The Raw Magnetometer component of a data item.
107  */
109  //! Check if data item contains Raw Magnetometer data
110  bool containsRawMagneticField(int32_t index=0) const;
111  //! Add/update Raw Magnetometer data for the item
112  bool setRawMagneticField(const XsUShortVector& vec, int32_t index=0);
113  /*! \brief Return the Raw Temperature component of a data item.
114  \param index The index of the item of which the data should be returned.
115  \param channel The Temperature channel to return
116  \returns The Raw Temperature component of a data item.
117  */
118  uint16_t rawTemperature(int32_t index=0, int channel = 0) const;
119  //! Check if data item contains Raw Temperature data
120  bool containsRawTemperature(int32_t index=0, int channel = 0) const;
121  //! Add/update Raw Temperature data for the item
122  bool setRawTemperature(uint16_t temp, int32_t index=0, int channel = 0);
123  //! Returns the number of available Raw Temperature channels
125  /*! \brief Return the Raw Data component of a data item.
126  \param index The index of the item of which the data should be returned.
127  \returns The Raw Data component of a data item.
128  */
129  XsScrData rawData(int32_t index=0) const;
130  //! Check if data item contains Raw Data
131  bool containsRawData(int32_t index=0) const;
132  //! Add/update Raw Data for the item
133  bool setRawData(const XsScrData& data, int32_t index=0);
134  /*! \brief Return the Gps PVT data component of a data item.
135  \param index The index of the item of which the data should be returned.
136  \returns The Gps PVT data component of a data item.
137  */
139  //! Check if data item contains Gps PVT Data
140  bool containsGpsPvtData(int32_t index=0) const;
141  //! Add/update Gps PVT Data for the item
142  bool setGpsPvtData(const XsGpsPvtData& data, int32_t index=0);
143 
144  XsPressure pressure(int32_t index=0) const;
145  bool containsPressure(int32_t index=0) const;
146  bool setPressure(const XsPressure& data, int32_t index=0);
147 
149  bool containsMtwSdiData(int32_t index=0) const;
150  bool setMtwSdiData(const MtwSdiData& data, int32_t index=0);
151 
152  /*! \brief Return the Temperature component of a data item.
153  \param index The index of the item of which the data should be returned.
154  \param channel The Temperature channel to return
155  \returns The Temperature component of a data item.
156  */
157  double temperature(int32_t index=0, int channel = 0) const;
158  //! Check if data item contains Temperature data
159  bool containsTemperature(int32_t index=0, int channel = 0) const;
160  //! Add/update Calibrated Accelerometer data for the item
161  bool setTemperature(const double& temp, int32_t index=0, int channel = 0);
162  //! Returns the number of temperature channels
163  int temperatureChannelCount(int32_t index = 0) const;
164 
165  /*! \brief Return the Calibrated Accelerometer component of a data item.
166  \param index The index of the item of which the data should be returned.
167  \returns The Calibrated Accelerometer component of a data item.
168  */
170  //! Check if data item contains Calibrated Accelerometer data
172  //! Add/update Calibrated Accelerometer data for the item
173  bool setCalibratedAcceleration(const XsVector& vec, int32_t index=0);
174 
175  /*! \brief Return the Calibrated Gyroscope component of a data item.
176  \param index The index of the item of which the data should be returned.
177  \returns The Calibrated Gyroscope component of a data item.
178  */
180  //! Check if data item contains Calibrated Gyroscope data
182  //! Add/update Calibrated Gyroscope data for the item
183  bool setCalibratedGyroscopeData(const XsVector& vec, int32_t index=0);
184 
185  /*! \brief Return the Calibrated Magnetometer component of a data item.
186  \param index The index of the item of which the data should be returned.
187  \returns The Calibrated Magnetometer component of a data item.
188  */
190  //! Check if data item contains Calibrated Magnetometer data
192  //! Add/update Calibrated Magnetometer data for the item
193  bool setCalibratedMagneticField(const XsVector& vec, int32_t index=0);
194 
196  bool containsCalibratedData(int32_t index=0) const;
198  /*! \brief Return the Orientation component of a data item as a Quaternion.
199  \param index The index of the item of which the data should be returned.
200  \returns The Orientation component of a data item as a Quaternion.
201  */
203  //! Check if data item contains Quaternion Orientation data
205  //! Add/update Quaternion Orientation data for the item
207  /*! \brief Return the Orientation component of a data item as Euler angles.
208  \param index The index of the item of which the data should be returned.
209  \returns The Orientation component of a data item as Euler angles.
210  */
212  //! Check if data item contains Euler Orientation data
213  bool containsOrientationEuler(int32_t index=0) const;
214  //! Add/update Euler Orientation data for the item
215  bool setOrientationEuler(const XsEuler& data, int32_t index=0);
216  /*! \brief Return the Orientation component of a data item as an Orientation Matrix.
217  \param index The index of the item of which the data should be returned.
218  \returns The Orientation component of a data item as an Orientation Matrix.
219  */
221  //! Check if data item contains Matrix Orientation data
223  //! Add/update Matrix Orientation data for the item
225 
226  //! Check if data item contains Orientation Data of any kind
227  bool containsOrientation(int32_t index=0) const;
228 
229  /*! \brief Return the AnalogIn 1 component of a data item.
230  \param index The index of the item of which the data should be returned.
231  \returns The AnalogIn 1 component of a data item.
232  */
234  //! Check if data item contains AnalogIn 1
235  bool containsAnalogIn1Data(int32_t index=0) const;
236  //! Add/update AnalogIn 1 for the item
238 
239  /*! \brief Return the AnalogIn 2 component of a data item.
240  \param index The index of the item of which the data should be returned.
241  \returns The AnalogIn 2 component of a data item.
242  */
244  //! Check if data item contains AnalogIn 2
245  bool containsAnalogIn2Data(int32_t index=0) const;
246  //! Add/update AnalogIn 2 for the item
248 
249  /*! \brief Return the Position Lat Lon Alt component of a data item.
250  \param index The index of the item of which the data should be returned.
251  \returns The Position Lat Lon Alt component of a data item.
252  */
254  //! Check if data item contains Position Lat Lon Alt
255  bool containsPositionLLA(int32_t index=0) const;
256  //! Add/update Position Lat Lon Alt for the item
257  bool setPositionLLA(const XsVector& data, int32_t index=0);
258 
259  /*! \brief Return the Velocity component of a data item.
260  \param index The index of the item of which the data should be returned.
261  \returns The Velocity component of a data item.
262  */
263  XsVector velocity(int32_t index=0) const;
264  //! Check if data item contains Velocity
265  bool containsVelocity(int32_t index=0) const;
266  //! Add/update Velocity for the item
267  bool setVelocity(const XsVector& data, int32_t index=0);
268 
269  /*! \brief Return the Status component of a data item.
270  \param index The index of the item of which the data should be returned.
271  \param[out] outIsDetailed pointer to boolean. After call, the boolean is true if the status is detailed
272  \returns The Status component of a data item.
273  */
274  uint32_t status(int32_t index, bool* outIsDetailed) const;
275  //! Check if data item contains Status
276  bool containsStatus(int32_t index=0) const;
277  //! Check if data item contains detailed Status information
278  bool containsDetailedStatus(int32_t index=0) const;
279  //! Add/update Status information for the item
280  bool setStatus(const uint32_t data, int32_t index=0);
281 
282  /*! \brief Return the Sample Counter component of the packet.
283  \param index The index of the item of which the data should be returned. (ignored)
284  \returns The Sample Counter component of the packet.
285  */
287  //! Check if data item contains Sample Counter
288  bool containsPacketCounter(int32_t index=0) const;
289  //! Add/update Sample Counter for all items
291 
292  /*! \brief Return the UTC Time component of the packet.
293  \param index The index of the item of which the data should be returned. (ignored)
294  \returns The UTC Time component of the packet.
295  */
296  XsUtcTime utcTime(int32_t index=0) const;
297  //! Check if data item contains UTC Time
298  bool containsUtcTime(int32_t index=0) const;
299  //! Add/update UTC Time for all items
300  bool setUtcTime(const XsUtcTime& data, int32_t index=0);
301 
302  /*! \brief Return the Acc-G component of the packet.
303  \param index The index of the item of which the data should be returned.
304  \returns The Acc-G component of the packet.
305  */
307  //! Check if data item contains XKF-3 Acc-G data
308  bool containsFreeAcceleration(int32_t index=0) const;
309  //! Add/update XKF-3 Acc-G data for the item
310  bool setFreeAcceleration(const XsVector& g, int32_t index=0);
311 
312  /*! \brief Return the synhcronization time recorded by the station.
313  \param channelID The synchronization channel number, where the output signal is connected.
314  \returns The synhcronization time recorded by the station.
315  */
316  XsTimeStamp triggerIndication(int channelID) const;
317  //! Check if data item contains indication time on the given line
318  bool containsTriggerIndication(int channelID = 0) const;
319  //! Add/update trigger indication time for the item to the given line
320  bool setTriggerIndication(int channelID, const XsTimeStamp &t);
321 
322  /*! \brief Returns a const pointer to the contained fixed data, mostly used for debugging */
323  inline const PacketFixedData* fixedData() const { return m_fixedData; }
324 
325 private:
326  PacketFixedData* m_fixedData; //!< Fixed packet data
327  mutable XsDeviceId m_lastFoundId; //!< Last found deviceId, speeds up searches
328  mutable uint16_t m_lastFoundIndex; //!< Index of last found deviceId, speeds up searches
329  XsMessage m_msg; //!< The message
330  XsTimeStamp m_rtc; //!< Sample time in ms, based on the sample counter
331  XsTimeStamp m_toa; //!< Time of arrival
332  XsTimeStamp m_packetId; //!< 64 bit sample counter
333  XsTimeStamp m_triggerIn1; //!< Trigger indication on line 1 \todo remove this
334  XsTimeStamp m_triggerIn2; //!< Trigger indication on line 2 \todo remove this
335 };
336 
337 #endif // file guard
XsOutputMode
Bit values for legacy output mode.
Definition: xsoutputmode.h:16
bool containsMtwSdiData(int32_t index=0) const
Check if data item contains strapdown integration data.
bool setMtwSdiData(const MtwSdiData &data, int32_t index=0)
Add/update strapdown integration data for the item.
uint16_t itemCount(void) const
Returns the number of devices whose data is contained in the object.
XsSize dataSize(int32_t index=0) const
Returns the size of the data.
MtwSdiData mtwSdiData(int32_t index=0) const
Return the strapdown integration (SDI) data component of a data item.
GLuint GLuint GLsizei count
Definition: glext.h:3512
bool containsOrientation(int32_t index=0) const
Check if data item contains Orientation Data of any kind.
const PacketFixedData * fixedData() const
Returns a const pointer to the contained fixed data, mostly used for debugging.
XsVector freeAcceleration(int32_t index=0) const
Return the Acc-G component of the packet.
XsScrData rawData(int32_t index=0) const
Return the Raw Data component of a data item.
XsTimeStamp rtc(void) const
Returns the Real Time Clock value as stored in the object.
uint16_t rawTemperature(int32_t index=0, int channel=0) const
Return the Raw Temperature component of a data item.
PacketFixedData * m_fixedData
Fixed packet data.
bool containsOrientationMatrix(int32_t index=0) const
Check if data item contains Matrix Orientation data.
GLdouble GLdouble t
Definition: glext.h:3610
unsigned __int16 uint16_t
Definition: rptypes.h:46
void setMessage(const XsMessage &message)
Set the source message to msg.
bool setRawMagneticField(const XsUShortVector &vec, int32_t index=0)
Add/update Raw Magnetometer data for the item.
XsUtcTime utcTime(int32_t index=0) const
Return the UTC Time component of the packet.
bool setTriggerIndication(int channelID, const XsTimeStamp &t)
Add/update trigger indication time for the item to the given line.
int temperatureChannelCount(int32_t index=0) const
Returns the number of temperature channels.
XsMessage m_msg
The message.
bool containsOrientationEuler(int32_t index=0) const
Check if data item contains Euler Orientation data.
bool containsRawData(int32_t index=0) const
Check if data item contains Raw Data.
bool setRawTemperature(uint16_t temp, int32_t index=0, int channel=0)
Add/update Raw Temperature data for the item.
A vector containing 3 short values.
Class to store strapdown integration data.
Definition: mtwsdidata.h:19
bool setDataFormat(const XsDataFormat &format, int32_t index=0)
Sets the data format of the device with the given index to format.
bool setGpsPvtData(const XsGpsPvtData &data, int32_t index=0)
Add/update Gps PVT Data for the item.
int32_t findDeviceId(XsDeviceId dev) const
Returns the index of the fixed data with id dev.
bool setOrientationQuaternion(const XsQuaternion &data, int32_t index=0)
Add/update Quaternion Orientation data for the item.
int rawTemperatureChannelCount(int32_t index=0) const
Returns the number of available Raw Temperature channels.
size_t XsSize
XsSize must be unsigned number!
Definition: xstypedefs.h:17
XsUShortVector rawGyroscopeData(int32_t index=0) const
Return the Raw Gyroscope component of a data item.
bool setAnalogIn2Data(const XsAnalogInData &data, int32_t index=0)
Add/update AnalogIn 2 for the item.
XsEuler orientationEuler(int32_t index=0) const
Return the Orientation component of a data item as Euler angles.
bool setTemperature(const double &temp, int32_t index=0, int channel=0)
Add/update Calibrated Accelerometer data for the item.
bool containsFreeAcceleration(int32_t index=0) const
Check if data item contains XKF-3 Acc-G data.
double temperature(int32_t index=0, int channel=0) const
Return the Temperature component of a data item.
XsUShortVector rawAcceleration(int32_t index=0) const
The Raw Accelerometer component of a data item.
XsVector positionLLA(int32_t index=0) const
Return the Position Lat Lon Alt component of a data item.
LegacyDataPacket()
Construct a new LegacyDataPacket without data. The LegacyDataPacket will be invalid.
XsDataFormat dataFormat(int32_t index=0) const
Returns the data format of the device with the given index.
bool setRawGyroscopeData(const XsUShortVector &vec, int32_t index=0)
Add/update Raw Gyroscope data for the item.
bool containsTriggerIndication(int channelID=0) const
Check if data item contains indication time on the given line.
XsAnalogInData analogIn2Data(int32_t index=0) const
Return the AnalogIn 2 component of a data item.
bool containsCalibratedData(int32_t index=0) const
Check if data item contains Calibrated Data.
bool containsCalibratedAcceleration(int32_t index=0) const
Check if data item contains Calibrated Accelerometer data.
Contains offset information about data in the packet.
XsVector calibratedGyroscopeData(int32_t index=0) const
Return the Calibrated Gyroscope component of a data item.
int64_t largePacketCounter(void) const
Return the 64-bit sample counter associated with this packet.
Structure for storing a single message.
Definition: xsmessage.h:138
__int64 int64_t
Definition: rptypes.h:51
XsGpsPvtData gpsPvtData(int32_t index=0) const
Return the Gps PVT data component of a data item.
GLuint index
Definition: glext.h:3891
bool setAnalogIn1Data(const XsAnalogInData &data, int32_t index=0)
Add/update AnalogIn 1 for the item.
bool containsCalibratedMagneticField(int32_t index=0) const
Check if data item contains Calibrated Magnetometer data.
bool setFreeAcceleration(const XsVector &g, int32_t index=0)
Add/update XKF-3 Acc-G data for the item.
bool setPacketCounter(const uint16_t counter, int32_t index=0)
Add/update Sample Counter for all items.
void setDeviceId(XsDeviceId deviceId, int32_t index)
Sets the device ID of the device with the given index to deviceid.
bool setUtcTime(const XsUtcTime &data, int32_t index=0)
Add/update UTC Time for all items.
GLubyte g
Definition: glext.h:5575
bool containsUtcTime(int32_t index=0) const
Check if data item contains UTC Time.
XsDeviceId deviceId(int32_t index) const
Returns the device ID of the device with the given index.
bool setVelocity(const XsVector &data, int32_t index=0)
Add/update Velocity for the item.
bool setPositionLLA(const XsVector &data, int32_t index=0)
Add/update Position Lat Lon Alt for the item.
Class for managing timestamps in a unified way.
Definition: xstimestamp.h:43
uint16_t m_lastFoundIndex
Index of last found deviceId, speeds up searches.
XsTimeStamp triggerIndication(int channelID) const
Return the synhcronization time recorded by the station.
void setItemCount(uint16_t count)
Set the number of devices whose data is contained in this object to count.
bool containsCalibratedGyroscopeData(int32_t index=0) const
Check if data item contains Calibrated Gyroscope data.
bool setPressure(const XsPressure &data, int32_t index=0)
Add/update pressure data for the item.
XsQuaternion orientationQuaternion(int32_t index=0) const
Return the Orientation component of a data item as a Quaternion.
XsMessage originalMessage(void) const
Returns the original message as it was received, without computed and added data (except for SDI inte...
const LegacyDataPacket & operator=(const LegacyDataPacket &pack)
Assignment operator, copies the contents of pack into this.
bool containsRawTemperature(int32_t index=0, int channel=0) const
Check if data item contains Raw Temperature data.
Data from analog inputs from sensors.
bool setStatus(const uint32_t data, int32_t index=0)
Add/update Status information for the item.
__int32 int32_t
Definition: rptypes.h:48
bool containsPacketCounter(int32_t index=0) const
Check if data item contains Sample Counter.
Contains an MTData XsMessage and supports functions for extracting contained data.
A structure for storing data formats.
Definition: xsdataformat.h:17
void setXbusSystem(bool xbus, bool convert=false)
Sets the xbus flag.
XsOutputSettings
Bit values for output settings.
bool containsRawMagneticField(int32_t index=0) const
Check if data item contains Raw Magnetometer data.
XsMessage message(void) const
Returns a copy of the XsMessage contained by the object, including computed and added data...
XsAnalogInData analogIn1Data(int32_t index=0) const
Return the AnalogIn 1 component of a data item.
bool setRawData(const XsScrData &data, int32_t index=0)
Add/update Raw Data for the item.
A structure for storing UTC Time values.
Definition: xsutctime.h:15
PacketInfo packetInfo(int32_t index) const
Returns the packet info for the index&#39;th device in the packet.
A structure containing fixed packet data, which should not change during a measurement for the same d...
bool containsPositionLLA(int32_t index=0) const
Check if data item contains Position Lat Lon Alt.
bool containsPressure(int32_t index=0) const
Return true if the packet contains pressure data.
XsTimeStamp m_triggerIn1
Trigger indication on line 1.
uint16_t packetCounter(int32_t index=0) const
Return the Sample Counter component of the packet.
uint32_t status(int32_t index, bool *outIsDetailed) const
Return the Status component of a data item.
void updateInfoList()
Update the internal info list by analyzing the known XsDataFormat for each device.
void setLargePacketCounter(int64_t sc)
Set the 64-bit sample counter associated with this packet.
bool containsOrientationQuaternion(int32_t index=0) const
Check if data item contains Quaternion Orientation data.
bool containsAnalogIn1Data(int32_t index=0) const
Check if data item contains AnalogIn 1.
uint16_t frameCounter() const
Return the frame counter (previously: sample counter) of the packet.
XsTimeStamp m_packetId
64 bit sample counter
XsUShortVector rawMagneticField(int32_t index=0) const
Return the Raw Magnetometer component of a data item.
void setTimeOfArrival(XsTimeStamp timeOfArrival)
Set the Time Of Arrival value to timeofarrival.
bool setRawAcceleration(const XsUShortVector &vec, int32_t index=0)
Add/update Raw Accelerometer data for the item.
XsVector calibratedAcceleration(int32_t index=0) const
Return the Calibrated Accelerometer component of a data item.
uint16_t XsMtTimeStamp
An MT timestamp (sample count)
GLenum GLsizei GLenum format
Definition: glext.h:3513
XsDeviceId m_lastFoundId
Last found deviceId, speeds up searches.
bool setOrientationMatrix(const XsMatrix &data, int32_t index=0)
Add/update Matrix Orientation data for the item.
Container for raw sensor measurement data.
Definition: xsscrdata.h:26
XsCalibratedData calibratedData(int32_t index=0) const
Return the Calibrated Data component of a data item.
uint16_t getFPValueSize(int32_t index) const
Returns the floating/fixed point value size in bytes.
bool containsAnalogIn2Data(int32_t index=0) const
Check if data item contains AnalogIn 2.
XsPressure pressure(int32_t index=0) const
Return the pressure data component of a data item.
void setRtc(XsTimeStamp rtc)
Set the Real Time Clock value to realtimeclock.
bool setCalibratedMagneticField(const XsVector &vec, int32_t index=0)
Add/update Calibrated Magnetometer data for the item.
bool containsVelocity(int32_t index=0) const
Check if data item contains Velocity.
bool containsStatus(int32_t index=0) const
Check if data item contains Status.
XsMatrix orientationMatrix(int32_t index=0) const
Return the Orientation component of a data item as an Orientation Matrix.
bool containsDetailedStatus(int32_t index=0) const
Check if data item contains detailed Status information.
bool setCalibratedData(const XsCalibratedData &data, int32_t index=0)
Add/update Calibrated Data for the item.
XsTimeStamp m_rtc
Sample time in ms, based on the sample counter.
bool containsRawGyroscopeData(int32_t index=0) const
Check if data item contains Raw Gyroscope data.
unsigned __int32 uint32_t
Definition: rptypes.h:49
~LegacyDataPacket()
Destructor.
XsVector calibratedMagneticField(int32_t index=0) const
Return the Calibrated Magnetometer component of a data item.
GLsizei GLsizei GLenum GLenum const GLvoid * data
Definition: glext.h:3520
bool containsTemperature(int32_t index=0, int channel=0) const
Check if data item contains Temperature data.
XsTimeStamp m_triggerIn2
Trigger indication on line 2.
bool setCalibratedAcceleration(const XsVector &vec, int32_t index=0)
Add/update Calibrated Accelerometer data for the item.
bool containsGpsPvtData(int32_t index=0) const
Check if data item contains Gps PVT Data.
XsVector velocity(int32_t index=0) const
Return the Velocity component of a data item.
bool isXbusSystem(void) const
Returns whether the xbus flag is set or not.
bool setCalibratedGyroscopeData(const XsVector &vec, int32_t index=0)
Add/update Calibrated Gyroscope data for the item.
bool setOrientationEuler(const XsEuler &data, int32_t index=0)
Add/update Euler Orientation data for the item.
XsTimeStamp m_toa
Time of arrival.
XsTimeStamp timeOfArrival(void) const
Returns the Time Of Arrival value as stored in the object.
bool containsRawAcceleration(int32_t index=0) const
Check if data item contains Raw Accelerometer data.
Data from the GPS unit of a legacy MTi-G.
Definition: xsgpspvtdata.h:32
Pressure data.
Definition: xspressure.h:17



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