imu

Inertial Measurement Unit. More...


Detailed Description

Inertial Measurement Unit.

The imu interface provides access to an Inertial Measurement Unit sensor (such as the XSens MTx/MTi).

#define PLAYER_IMU_DATA_STATE   1
 Data subtype: IMU position/orientation data.
#define PLAYER_IMU_DATA_CALIB   2
 Data subtype: Calibrated IMU data.
#define PLAYER_IMU_DATA_QUAT   3
 Data subtype: Quaternions orientation data.
#define PLAYER_IMU_DATA_EULER   4
 Data subtype: Euler orientation data.
#define PLAYER_IMU_DATA_FULLSTATE   5
 Data subtype: All IMU position/orientation data.
#define PLAYER_IMU_REQ_SET_DATATYPE   1
 Request/reply subtype: set data type.
#define PLAYER_IMU_REQ_RESET_ORIENTATION   2
 Request/reply subtype: reset orientation.
typedef struct
player_imu_data_state 
player_imu_data_state_t
 Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
typedef struct
player_imu_data_calib 
player_imu_data_calib_t
 Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
typedef struct player_imu_data_quat player_imu_data_quat_t
 Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
typedef struct
player_imu_data_euler 
player_imu_data_euler_t
 Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
typedef struct
player_imu_data_fullstate 
player_imu_data_fullstate_t
 Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
typedef struct
player_imu_datatype_config 
player_imu_datatype_config_t
 Request/reply: change the data type to one of the predefined data structures.
typedef struct
player_imu_reset_orientation_config 
player_imu_reset_orientation_config_t
 Request/reply: Reset orientation.

Typedef Documentation

Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)

The imu interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor.

Data: Euler orientation data (PLAYER_IMU_DATA_EULER)

The imu interface returns calibrated IMU values as well as orientation data as Euler angles.

Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)

The imu interface returns the complete 3D coordinates + angles position in space, as well as velocity and acceleration of the IMU sensor.

Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)

The imu interface returns calibrated IMU values as well as orientation data as quaternions.

Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)

The imu interface returns the complete 3D coordinates + angles position in space, of the IMU sensor.

Request/reply: change the data type to one of the predefined data structures.

Send a PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated data, 3D pose and orientation, Euler orientation or Quaternions orientation in the data packet. Null response.

Request/reply: Reset orientation.

To reset the IMU's orientation, send a PLAYER_IMU_REQ_RESET_ORIENTATION request. Null response.