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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  XsDeviceId m_deviceId; //!< The ID of the device that generated the data
22  uint8_t m_timeSync; //!< Indicates if the time sync is in order (unused)
23  uint16_t m_firstFrameNumber; //!< The first frame number of the SDI interval. The time of the interval is [first, last)
24  uint16_t m_lastFrameNumber; //!< The last frame number of the SDI interval. The time of the interval is [first, last)
25  XsVector3 m_currentBias; //!< The gyroscope bias used during the SDI interval
26  XsQuaternion m_orientationIncrement; //!< The orientation increment (delta Q) over the interval
27  XsVector3 m_velocityIncrement; //!< The velocity increment (delta V) over the interval
28  bool m_aidingData; //!< reserved
29  double m_barometer; //!< The barometer value during the interval
30  XsVector3 m_magnetoMeter; //!< The magnetometer values during the interval
31  int8_t m_rssi; //!< The Received Signal Strength Indication (RSSI) of the message
32 
33  MtwSdiData();
34  MtwSdiData(const MtwSdiData& other);
35  ~MtwSdiData();
36  const MtwSdiData& operator=(const MtwSdiData& other);
37 
38  bool empty() const;
39  bool containsAidingData() const;
42  double pressure() const;
43  XsVector magneticField() const;
44  XsVector currentBias() const;
45  XsRange frameRange() const;
46  double rssi() const;
47 };
48 
49 #endif // file guard
double rssi() const
Get the rssi of the received strapdown integration data.
Definition: mtwsdidata.cpp:135
unsigned __int16 uint16_t
Definition: rptypes.h:46
XsVector3 m_currentBias
The gyroscope bias used during the SDI interval.
Definition: mtwsdidata.h:25
XsVector velocityIncrement() const
Get the velocity increment value.
Definition: mtwsdidata.cpp:95
XsQuaternion orientationIncrement() const
Get the orientation increment value.
Definition: mtwsdidata.cpp:87
Class to store strapdown integration data.
Definition: mtwsdidata.h:19
const MtwSdiData & operator=(const MtwSdiData &other)
Assign other to this.
Definition: mtwsdidata.cpp:53
signed char int8_t
Definition: rptypes.h:42
bool empty() const
Test if this is a null Awinda object.
Definition: mtwsdidata.cpp:73
unsigned char uint8_t
Definition: rptypes.h:43
XsDeviceId m_deviceId
The ID of the device that generated the data.
Definition: mtwsdidata.h:21
uint16_t m_firstFrameNumber
The first frame number of the SDI interval. The time of the interval is [first, last) ...
Definition: mtwsdidata.h:23
XsVector3 m_velocityIncrement
The velocity increment (delta V) over the interval.
Definition: mtwsdidata.h:27
XsVector currentBias() const
Get the current gyroscope bias value.
Definition: mtwsdidata.cpp:119
XsVector magneticField() const
Get the magnetic field value.
Definition: mtwsdidata.cpp:111
double m_barometer
The barometer value during the interval.
Definition: mtwsdidata.h:29
int8_t m_rssi
The Received Signal Strength Indication (RSSI) of the message.
Definition: mtwsdidata.h:31
MtwSdiData()
Construct an empty strapdown integration data object.
Definition: mtwsdidata.cpp:20
XsVector3 m_magnetoMeter
The magnetometer values during the interval.
Definition: mtwsdidata.h:30
bool containsAidingData() const
Test if strapdown integration data is available.
Definition: mtwsdidata.cpp:79
uint16_t m_lastFrameNumber
The last frame number of the SDI interval. The time of the interval is [first, last) ...
Definition: mtwsdidata.h:24
~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:22
double pressure() const
Get the pressure as measured by the barometer in hPa.
Definition: mtwsdidata.cpp:103
XsQuaternion m_orientationIncrement
The orientation increment (delta Q) over the interval.
Definition: mtwsdidata.h:26
bool m_aidingData
reserved
Definition: mtwsdidata.h:28
XsRange frameRange() const
Get the frame range of the current strapdown integration data.
Definition: mtwsdidata.cpp:127



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