C++ API

Class Hierarchy

• • Struct sh2_Accelerometer
  • Struct sh2_AmbientLight
  • Struct sh2_AsyncEvent
  • Struct sh2_CircleDetector
  • Struct sh2_Counts
  • Struct sh2_ErrorRecord
  • Struct sh2_FlipDetector
  • Struct sh2_GyroIntegratedRV
  • Struct sh2_Gyroscope
  • Struct sh2_GyroscopeUncalibrated
  • Struct sh2_Hal_s
  • Struct sh2_HeartRateMonitor
  • Struct sh2_Humidity
  • Struct sh2_IZroRequest
  • Struct sh2_MagneticField
  • Struct sh2_MagneticFieldUncalibrated
  • Struct sh2_PersonalActivityClassifier
  • Struct sh2_PickupDetector
  • Struct sh2_PocketDetector
  • Struct sh2_Pressure
  • Struct sh2_ProductId_s
  • Struct sh2_ProductIds_s
  • Struct sh2_Proximity
  • Struct sh2_Quaternion
  • Struct sh2_RawAccelerometer
  • Struct sh2_RawGyroscope
  • Struct sh2_RawMagnetometer
  • Struct sh2_Reserved
  • Struct sh2_RotationVector
  • Struct sh2_RotationVectorWAcc
  • Struct sh2_SensorConfig
  • Struct sh2_SensorConfigResp_e
  • Struct sh2_SensorEvent
  • Struct sh2_SensorMetadata
  • Struct sh2_SensorValue
  • Struct sh2_ShakeDetector
  • Struct sh2_SigMotion
  • Struct sh2_SleepDetector
  • Struct sh2_StabilityClassifier
  • Struct sh2_StabilityDetector
  • Struct sh2_StepCounter
  • Struct sh2_StepDetector
  • Struct sh2_TapDetector
  • Struct sh2_Temperature
  • Struct sh2_TiltDetector
  • Class BNO08x
  • Class BNO08xROS
  • Class CommInterface
  • Class I2CInterface
  • Class SPIInterface
  • Class UARTInterface
  • Class Watchdog
  • Enum sh2_AsyncEventId_e
  • Enum sh2_CalStatus_t
  • Enum sh2_IZroMotionIntent_t
  • Enum sh2_IZroMotionRequest_t
  • Enum sh2_OscType_t
  • Enum sh2_SensorId_e
  • Enum sh2_ShtpEvent_e
  • Enum sh2_TareAxis
  • Enum sh2_TareBasis
  • Enum shtp_Event_e

File Hierarchy

• • Directory include
    • Directory bno08x_driver
      • File bno08x.hpp
      • File bno08x_ros.hpp
      • File comm_interface.hpp
      • File i2c_interface.hpp
      • File logger.h
      • File spi_interface.hpp
      • File uart_interface.hpp
      • File watchdog.hpp
    • Directory sh2
      • File sh2.h
      • File sh2_err.h
      • File sh2_hal.h
      • File sh2_SensorValue.h
      • File sh2_util.h
      • File shtp.h

Full C++ API

Namespaces

• Namespace rclcpp

Classes and Structs

• Struct sh2_Accelerometer

• Struct sh2_AmbientLight

• Struct sh2_AsyncEvent

• Struct sh2_CircleDetector

• Struct sh2_Counts

• Struct sh2_ErrorRecord

• Struct sh2_FlipDetector

• Struct sh2_GyroIntegratedRV

• Struct sh2_Gyroscope

• Struct sh2_GyroscopeUncalibrated

• Struct sh2_Hal_s

• Struct sh2_HeartRateMonitor

• Struct sh2_Humidity

• Struct sh2_IZroRequest

• Struct sh2_MagneticField

• Struct sh2_MagneticFieldUncalibrated

• Struct sh2_PersonalActivityClassifier

• Struct sh2_PickupDetector

• Struct sh2_PocketDetector

• Struct sh2_Pressure

• Struct sh2_ProductId_s

• Struct sh2_ProductIds_s

• Struct sh2_Proximity

• Struct sh2_Quaternion

• Struct sh2_RawAccelerometer

• Struct sh2_RawGyroscope

• Struct sh2_RawMagnetometer

• Struct sh2_Reserved

• Struct sh2_RotationVector

• Struct sh2_RotationVectorWAcc

• Struct sh2_SensorConfig

• Struct sh2_SensorConfigResp_e

• Struct sh2_SensorEvent

• Struct sh2_SensorMetadata

• Struct sh2_SensorValue

• Struct sh2_ShakeDetector

• Struct sh2_SigMotion

• Struct sh2_SleepDetector

• Struct sh2_StabilityClassifier

• Struct sh2_StabilityDetector

• Struct sh2_StepCounter

• Struct sh2_StepDetector

• Struct sh2_TapDetector

• Struct sh2_Temperature

• Struct sh2_TiltDetector

• Class BNO08x

• Class BNO08xROS

• Class CommInterface

• Class I2CInterface

• Class SPIInterface

• Class UARTInterface

• Class Watchdog

Enums

• Enum sh2_AsyncEventId_e

• Enum sh2_CalStatus_t

• Enum sh2_IZroMotionIntent_t

• Enum sh2_IZroMotionRequest_t

• Enum sh2_OscType_t

• Enum sh2_SensorId_e

• Enum sh2_ShtpEvent_e

• Enum sh2_TareAxis

• Enum sh2_TareBasis

• Enum shtp_Event_e

Functions

• Function read16

• Function read32

• Function read8

• Function readu16

• Function readu32

• Function readu8

• Function sh2_clearCounts

• Function sh2_clearDcdAndReset

• Function sh2_clearTare

• Function sh2_close

• Function sh2_decodeSensorEvent

• Function sh2_devOn

• Function sh2_devReset

• Function sh2_devSleep

• Function sh2_finishCal

• Function sh2_flush

• Function sh2_getCalConfig

• Function sh2_getCounts

• Function sh2_getErrors

• Function sh2_getFrs

• Function sh2_getMetadata

• Function sh2_getOscType

• Function sh2_getProdIds

• Function sh2_getSensorConfig

• Function sh2_open

• Function sh2_persistTare

• Function sh2_reinitialize

• Function sh2_saveDcdNow

• Function sh2_service

• Function sh2_setCalConfig

• Function sh2_setDcdAutoSave

• Function sh2_setFrs

• Function sh2_setIZro

• Function sh2_setReorientation

• Function sh2_setSensorCallback

• Function sh2_setSensorConfig

• Function sh2_setTareNow

• Function sh2_startCal

• Function shtp_chanNo

• Function shtp_close

• Function shtp_listenAdvert

• Function shtp_listenChan

• Function shtp_open

• Function shtp_send

• Function shtp_service

• Function shtp_setEventCallback

• Function write16

• Function write32

• Function write8

• Function writeu16

• Function writeu32

• Function writeu8

Defines

• Define ACCEL_ORIENTATION

• Define ACTIVITY_TRACKER_CONFIG

• Define ALS_CAL

• Define ARRAY_LEN

• Define ARVR_STABILIZATION_GRV

• Define ARVR_STABILIZATION_RV

• Define CIRCLE_DETECTOR_CONFIG

• Define DEBUG_LOG

• Define DEBUG_LOG_BUFFER

• Define DEBUG_ONLY

• Define DYNAMIC_CALIBRATION

• Define ES_AMBIENT_LIGHT_CAL

• Define ES_HUMIDITY_CAL

• Define ES_PRESSURE_CAL

• Define ES_PROXIMITY_CAL

• Define ES_TEMPERATURE_CAL

• Define FLIP_DETECTOR_CONFIG

• Define FRS_ID_META_ACCELEROMETER

• Define FRS_ID_META_AMBIENT_LIGHT

• Define FRS_ID_META_ARVR_STABILIZED_GRV

• Define FRS_ID_META_ARVR_STABILIZED_RV

• Define FRS_ID_META_CIRCLE_DETECTOR

• Define FRS_ID_META_FLIP_DETECTOR

• Define FRS_ID_META_GAME_ROTATION_VECTOR

• Define FRS_ID_META_GEOMAGNETIC_ROTATION_VECTOR

• Define FRS_ID_META_GRAVITY

• Define FRS_ID_META_GYRO_INTEGRATED_RV

• Define FRS_ID_META_GYROSCOPE_CALIBRATED

• Define FRS_ID_META_GYROSCOPE_UNCALIBRATED

• Define FRS_ID_META_HEART_RATE_MONITOR

• Define FRS_ID_META_HUMIDITY

• Define FRS_ID_META_LINEAR_ACCELERATION

• Define FRS_ID_META_MAGNETIC_FIELD_CALIBRATED

• Define FRS_ID_META_MAGNETIC_FIELD_UNCALIBRATED

• Define FRS_ID_META_PERSONAL_ACTIVITY_CLASSIFIER

• Define FRS_ID_META_PICKUP_DETECTOR

• Define FRS_ID_META_POCKET_DETECTOR

• Define FRS_ID_META_PRESSURE

• Define FRS_ID_META_PROXIMITY

• Define FRS_ID_META_RAW_ACCELEROMETER

• Define FRS_ID_META_RAW_GYROSCOPE

• Define FRS_ID_META_RAW_MAGNETOMETER

• Define FRS_ID_META_ROTATION_VECTOR

• Define FRS_ID_META_SHAKE_DETECTOR

• Define FRS_ID_META_SIGNIFICANT_MOTION

• Define FRS_ID_META_SLEEP_DETECTOR

• Define FRS_ID_META_STABILITY_CLASSIFIER

• Define FRS_ID_META_STABILITY_DETECTOR

• Define FRS_ID_META_STEP_COUNTER

• Define FRS_ID_META_STEP_DETECTOR

• Define FRS_ID_META_TAP_DETECTOR

• Define FRS_ID_META_TEMPERATURE

• Define FRS_ID_META_TILT_DETECTOR

• Define GYRO_INTEGRATED_RV_CONFIG

• Define GYROSCOPE_ORIENTATION

• Define MAGNETOMETER_ORIENTATION

• Define MAX_FUSION_PERIOD

• Define ME_POWER_MGMT

• Define ME_TIME_SOURCE_SELECT

• Define NOMINAL_CALIBRATION

• Define NOMINAL_CALIBRATION_SRA

• Define PAC_IN_VEHICLE

• Define PAC_ON_BICYCLE

• Define PAC_ON_FOOT

• Define PAC_ON_STAIRS

• Define PAC_OPTION_COUNT

• Define PAC_RUNNING

• Define PAC_STILL

• Define PAC_TILTING

• Define PAC_UNKNOWN

• Define PAC_WALKING

• Define PICKUP_DETECTOR_CONFIG

• Define PICKUP_LEVEL_TO_NOT_LEVEL

• Define PICKUP_STOP_WITHIN_REGION

• Define POCKET_DETECTOR_CONFIG

• Define PROXIMITY_SENSOR_CAL

• Define SCREEN_ACCEL_ORIENTATION

• Define SERIAL_NUMBER

• Define SH2_CAL_ACCEL

• Define SH2_CAL_GYRO

• Define SH2_CAL_MAG

• Define SH2_CAL_PLANAR

• Define SH2_ERR

• Define SH2_ERR_BAD_PARAM

• Define SH2_ERR_HUB

• Define SH2_ERR_IO

• Define SH2_ERR_OP_IN_PROGRESS

• Define SH2_ERR_TIMEOUT

• Define SH2_HAL_DMA_SIZE

• Define SH2_HAL_MAX_PAYLOAD_IN

• Define SH2_HAL_MAX_PAYLOAD_OUT

• Define SH2_HAL_MAX_TRANSFER_IN

• Define SH2_HAL_MAX_TRANSFER_OUT

• Define SH2_MAX_PROD_ID_ENTRIES

• Define SH2_MAX_SENSOR_EVENT_LEN

• Define SH2_OK

• Define SHAKE_DETECT_CONFIG

• Define SHAKE_X

• Define SHAKE_Y

• Define SHAKE_Z

• Define SIG_MOTION_DETECT_CONFIG

• Define SLEEP_DETECTOR_CONFIG

• Define STABILITY_CLASSIFIER_MOTION

• Define STABILITY_CLASSIFIER_ON_TABLE

• Define STABILITY_CLASSIFIER_STABLE

• Define STABILITY_CLASSIFIER_STATIONARY

• Define STABILITY_CLASSIFIER_UNKNOWN

• Define STABILITY_DETECTOR_CONFIG

• Define STABILITY_ENTERED

• Define STABILITY_EXITED

• Define STATIC_CALIBRATION_AGM

• Define STATIC_CALIBRATION_SRA

• Define SYSTEM_ORIENTATION

• Define TAG_ADV_COUNT

• Define TAG_APP_NAME

• Define TAG_APP_SPECIFIC

• Define TAG_CHANNEL_NAME

• Define TAG_GUID

• Define TAG_MAX_CARGO_PLUS_HEADER_READ

• Define TAG_MAX_CARGO_PLUS_HEADER_WRITE

• Define TAG_MAX_TRANSFER_READ

• Define TAG_MAX_TRANSFER_WRITE

• Define TAG_NORMAL_CHANNEL

• Define TAG_NULL

• Define TAG_WAKE_CHANNEL

• Define TAP_DETECT_CONFIG

• Define TAPDET_DOUBLE

• Define TAPDET_X

• Define TAPDET_X_POS

• Define TAPDET_Y

• Define TAPDET_Y_POS

• Define TAPDET_Z

• Define TAPDET_Z_POS

• Define TILT_DETECTOR_CONFIG

• Define UART_FORMAT

• Define USER_RECORD

Typedefs

• Typedef sh2_Accelerometer_t

• Typedef sh2_AmbientLight_t

• Typedef sh2_AsyncEvent_t

• Typedef sh2_AsyncEventId_t

• Typedef sh2_CircleDetector_t

• Typedef sh2_Counts_t

• Typedef sh2_ErrorRecord_t

• Typedef sh2_EventCallback_t

• Typedef sh2_FlipDetector_t

• Typedef sh2_GyroIntegratedRV_t

• Typedef sh2_Gyroscope_t

• Typedef sh2_GyroscopeUncalibrated_t

• Typedef sh2_Hal_t

• Typedef sh2_HeartRateMonitor_t

• Typedef sh2_Humidity_t

• Typedef sh2_IZroRequest_t

• Typedef sh2_MagneticField_t

• Typedef sh2_MagneticFieldUncalibrated_t

• Typedef sh2_PersonalActivityClassifier_t

• Typedef sh2_PickupDetector_t

• Typedef sh2_PocketDetector_t

• Typedef sh2_Pressure_t

• Typedef sh2_ProductId_t

• Typedef sh2_ProductIds_t

• Typedef sh2_Proximity_t

• Typedef sh2_Quaternion_t

• Typedef sh2_RawAccelerometer_t

• Typedef sh2_RawGyroscope_t

• Typedef sh2_RawMagnetometer_t

• Typedef sh2_Reserved_t

• Typedef sh2_RotationVector_t

• Typedef sh2_RotationVectorWAcc_t

• Typedef sh2_SensorCallback_t

• Typedef sh2_SensorConfig_t

• Typedef sh2_SensorConfigResp_t

• Typedef sh2_SensorEvent_t

• Typedef sh2_SensorId_t

• Typedef sh2_SensorMetadata_t

• Typedef sh2_SensorValue_t

• Typedef sh2_ShakeDetector_t

• Typedef sh2_ShtpEvent_t

• Typedef sh2_SigMotion_t

• Typedef sh2_SleepDetector_t

• Typedef sh2_StabilityClassifier_t

• Typedef sh2_StabilityDetector_t

• Typedef sh2_StepCounter_t

• Typedef sh2_StepDetector_t

• Typedef sh2_TapDetector_t

• Typedef sh2_TareAxis_t

• Typedef sh2_TareBasis_t

• Typedef sh2_Temperature_t

• Typedef sh2_TiltDetector_t

• Typedef shtp_AdvertCallback_t

• Typedef shtp_Callback_t

• Typedef shtp_Event_t

• Typedef shtp_EventCallback_t

• Typedef shtp_SendCallback_t

Directories

• Directory include

• Directory bno08x_driver

• Directory sh2

Files

• File bno08x.hpp

• File bno08x_ros.hpp

• File comm_interface.hpp

• File i2c_interface.hpp

• File logger.h

• File sh2.h

• File sh2_err.h

• File sh2_hal.h

• File sh2_SensorValue.h

• File sh2_util.h

• File shtp.h

• File spi_interface.hpp

• File uart_interface.hpp

• File watchdog.hpp