imu
[Interface specifications]
Collaboration diagram for imu:
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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_REQ_SET_DATATYPE 1 |
| Request/reply subtype: set data type. | |
| #define | PLAYER_IMU_REQ_RESET_ORIENTATION 2 |
| Request/reply subtype: reset orientation. | |
| typedef player_imu_data_state | player_imu_data_state_t |
| Data: calibrated IMU data (PLAYER_IMU_DATA_STATE). | |
| typedef player_imu_data_calib | player_imu_data_calib_t |
| Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB). | |
| typedef player_imu_data_quat | player_imu_data_quat_t |
| Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT). | |
| typedef player_imu_data_euler | player_imu_data_euler_t |
| Data: Euler orientation data (PLAYER_IMU_DATA_EULER). | |
| typedef player_imu_datatype_config | player_imu_datatype_config_t |
| Request/reply: change the data type to one of the predefined data structures. | |
| typedef player_imu_reset_orientation_config | player_imu_reset_orientation_config_t |
| Request/reply: Reset orientation. |
Typedef Documentation
| typedef struct player_imu_data_calib player_imu_data_calib_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB).
The imu interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor.
| typedef struct player_imu_data_euler player_imu_data_euler_t |
Data: Euler orientation data (PLAYER_IMU_DATA_EULER).
The imu interface returns calibrated IMU values as well as orientation data as Euler angles.
| typedef struct player_imu_data_quat player_imu_data_quat_t |
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT).
The imu interface returns calibrated IMU values as well as orientation data as quaternions.
| typedef struct player_imu_data_state player_imu_data_state_t |
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE).
The imu interface returns the complete 3D coordinates + angles position in space, of the IMU sensor.
| typedef struct player_imu_datatype_config player_imu_datatype_config_t |
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.