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.
#define	PLAYER_IMU_REQ_RESET_EULER   3
	Request/reply subtype: reset euler values.
typedef struct player_imu_data_state	player_imu_data_state_t
	Data: calibrated IMU data (PLAYER_IMU_DATA_STATE) More...
typedef struct player_imu_data_calib	player_imu_data_calib_t
	Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB) More...
typedef struct player_imu_data_quat	player_imu_data_quat_t
	Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT) More...
typedef struct player_imu_data_euler	player_imu_data_euler_t
	Data: Euler orientation data (PLAYER_IMU_DATA_EULER) More...
typedef struct player_imu_data_fullstate	player_imu_data_fullstate_t
	Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE) More...
typedef struct player_imu_datatype_config	player_imu_datatype_config_t
	Request/reply: change the data type to one of the predefined data structures. More...
typedef struct player_imu_reset_orientation_config	player_imu_reset_orientation_config_t
	Request/reply: Reset orientation. More...
typedef struct player_imu_reset_euler_config	player_imu_reset_euler_config_t
	Request/reply: Reset euler orientation. More...

Typedef Documentation

player_imu_data_calib_t

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.

player_imu_data_euler_t

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.

player_imu_data_fullstate_t

typedef struct player_imu_data_fullstate player_imu_data_fullstate_t

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.

player_imu_data_quat_t

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.

player_imu_data_state_t

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.

player_imu_datatype_config_t

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.

player_imu_reset_euler_config_t

typedef struct player_imu_reset_euler_config player_imu_reset_euler_config_t

Request/reply: Reset euler orientation.

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

player_imu_reset_orientation_config_t

typedef struct player_imu_reset_orientation_config player_imu_reset_orientation_config_t

Request/reply: Reset orientation.

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