SensorData Class Reference

Stores different data types coming in packets (XsDataPackets) from the sensors in the device. More...

#include <sensorData.h>

List of all members.

Public Member Functions
float	accelerometer_x ()
float	accelerometer_y ()
float	accelerometer_z ()
float	accError ()
float	altitude ()
float	calculateAccErrorSquared (float noise_density, float freq)
	Obtains the Acceleration Error ^2 from the noise density and sensor frequency.
float	calculateGyrErrorSquared (float noise_density, float freq)
	Obtains the Gyroscope Error ^2 from the noise density and the sensor frequency.
float	edop ()
void	fillData (XsDataPacket *)
	Fills data using XsDataPacket object.
std::string	frameId ()
float	gdop ()
void	getOrientationQuaternion (tf::Quaternion *q)
float	gps_velocity_x ()
float	gps_velocity_y ()
float	gps_velocity_z ()
bool	GPSFix ()
int	GpsFixStatus ()
float	gyrError ()
float	gyroscope_x ()
float	gyroscope_y ()
float	gyroscope_z ()
float	hdop ()
uint32_t	horizontalAccuracy ()
float	itow ()
float	latitude ()
float	longitude ()
float	magnetic_x ()
float	magnetic_y ()
float	magnetic_z ()
float	ndop ()
float	pdop ()
float	pitch ()
float	pitchError ()
float	PositionAccuracy ()
float	pressure ()
float	quaternion_w ()
float	quaternion_x ()
float	quaternion_y ()
float	quaternion_z ()
float	roll ()
float	rollError ()
int	SatelliteNumber ()
	SensorData (outputSettings &mSettings)
	Initializes all data with blank values.
	SensorData ()
float	SpeedAccuracy ()
float	tdop ()
float	temperature ()
float	to_rad_sqr (float x)
float	vdop ()
float	velocity_x ()
float	velocity_y ()
float	velocity_z ()
float	velocityDown ()
float	velocityEast ()
float	velocityNorth ()
uint32_t	verticalAccuracy ()
float	yaw ()
float	yawError ()
Private Attributes
float	acc_error
float	acc_noise
float	accX
float	accY
float	accZ
float	epitch
float	eroll
float	eyaw
std::string	frameId_string
float	gpsVelocityX
float	gpsVelocityY
float	gpsVelocityZ
float	gyr_error
float	gyr_noise
float	gyrX
float	gyrY
float	gyrZ
float	m_edop
float	m_gdop
float	m_hdop
float	m_itow
float	m_ndop
float	m_pdop
float	m_tdop
float	m_vdop
float	magX
float	magY
float	magZ
float	mAltitude
int	mGpsFixStatus
uint32_t	mHorizontalAccuracy
float	mLatitude
float	mLongitude
float	mPositionAccuracy
float	mPressure
int	mSatelliteNumber
float	mSpeedAccuracy
unsigned char	mStatus
float	mTemperature
float	mVelocityDown
float	mVelocityEast
float	mVelocityNorth
float	mVelocityX
float	mVelocityY
float	mVelocityZ
uint32_t	mVerticalAccuracy
float	pitch_error
float	q0
float	q1
float	q2
float	q3
tf::Quaternion	q_orientation
float	roll_error
unsigned int	ts
float	yaw_error
Static Private Attributes
static const unsigned char	GPS_FIX = 0x04

---

Detailed Description

Stores different data types coming in packets (XsDataPackets) from the sensors in the device.

This class contains one important function that takes an data packet from the device and inspect it for all the data from all the modules enable in outputSettings. It stores this data and provides getters for it.

Author:

Lucas Casanova Nogueira (lucas_afonso@hotmail.com)

Date:

2014

Definition at line 17 of file sensorData.h.

---

Constructor & Destructor Documentation

SensorData::SensorData

(

outputSettings &

mSettings

)

Initializes all data with blank values.

Definition at line 16 of file sensorData.cpp.

SensorData::SensorData

(

)

Definition at line 73 of file sensorData.cpp.

---

Member Function Documentation

float SensorData::accelerometer_x

(

)

[inline]

Definition at line 81 of file sensorData.h.

float SensorData::accelerometer_y

(

)

[inline]

Definition at line 82 of file sensorData.h.

float SensorData::accelerometer_z

(

)

[inline]

Definition at line 83 of file sensorData.h.

float SensorData::accError

(

)

[inline]

Definition at line 60 of file sensorData.h.

float SensorData::altitude

(

)

[inline]

Definition at line 105 of file sensorData.h.

float SensorData::calculateAccErrorSquared	(	float	noise_density,
		float	freq
	)

Obtains the Acceleration Error ^2 from the noise density and sensor frequency.

Parameters:

noise_density	in [g/sqrt(Hz)],
freq	in [Hz],

Returns:

error in (m/s^2)^2

Definition at line 84 of file sensorData.cpp.

float SensorData::calculateGyrErrorSquared	(	float	noise_density,
		float	freq
	)

Obtains the Gyroscope Error ^2 from the noise density and the sensor frequency.

Parameters:

noise_density	in [g/sqrt(Hz)]
freq	in [Hz]

Returns:

error in (m/s^2)^2

Definition at line 96 of file sensorData.cpp.

float SensorData::edop

(

)

[inline]

Definition at line 56 of file sensorData.h.

void SensorData::fillData

(

XsDataPacket *

_packet

)

Fills data using XsDataPacket object.

Parameters:

_packet

Incoming packet from Xsens device.

Definition at line 104 of file sensorData.cpp.

std::string SensorData::frameId

(

)

[inline]

Definition at line 128 of file sensorData.h.

float SensorData::gdop

(

)

[inline]

Definition at line 52 of file sensorData.h.

void SensorData::getOrientationQuaternion

(

tf::Quaternion *

q

)

[inline]

Definition at line 71 of file sensorData.h.

float SensorData::gps_velocity_x

(

)

[inline]

Definition at line 115 of file sensorData.h.

float SensorData::gps_velocity_y

(

)

[inline]

Definition at line 116 of file sensorData.h.

float SensorData::gps_velocity_z

(

)

[inline]

Definition at line 117 of file sensorData.h.

bool SensorData::GPSFix

(

)

[inline]

Definition at line 123 of file sensorData.h.

int SensorData::GpsFixStatus

(

)

[inline]

Definition at line 79 of file sensorData.h.

float SensorData::gyrError

(

)

[inline]

Definition at line 61 of file sensorData.h.

float SensorData::gyroscope_x

(

)

[inline]

Definition at line 85 of file sensorData.h.

float SensorData::gyroscope_y

(

)

[inline]

Definition at line 86 of file sensorData.h.

float SensorData::gyroscope_z

(

)

[inline]

Definition at line 87 of file sensorData.h.

float SensorData::hdop

(

)

[inline]

Definition at line 50 of file sensorData.h.

uint32_t SensorData::horizontalAccuracy

(

)

[inline]

Definition at line 125 of file sensorData.h.

float SensorData::itow

(

)

[inline]

Definition at line 57 of file sensorData.h.

float SensorData::latitude

(

)

[inline]

Definition at line 107 of file sensorData.h.

float SensorData::longitude

(

)

[inline]

Definition at line 106 of file sensorData.h.

float SensorData::magnetic_x

(

)

[inline]

Definition at line 89 of file sensorData.h.

float SensorData::magnetic_y

(

)

[inline]

Definition at line 90 of file sensorData.h.

float SensorData::magnetic_z

(

)

[inline]

Definition at line 91 of file sensorData.h.

float SensorData::ndop

(

)

[inline]

Definition at line 55 of file sensorData.h.

float SensorData::pdop

(

)

[inline]

Definition at line 53 of file sensorData.h.

float SensorData::pitch

(

)

[inline]

Definition at line 102 of file sensorData.h.

float SensorData::pitchError

(

)

[inline]

Definition at line 63 of file sensorData.h.

float SensorData::PositionAccuracy

(

)

[inline]

Definition at line 75 of file sensorData.h.

float SensorData::pressure

(

)

[inline]

Definition at line 94 of file sensorData.h.

float SensorData::quaternion_w

(

)

[inline]

Definition at line 99 of file sensorData.h.

float SensorData::quaternion_x

(

)

[inline]

Definition at line 96 of file sensorData.h.

float SensorData::quaternion_y

(

)

[inline]

Definition at line 97 of file sensorData.h.

float SensorData::quaternion_z

(

)

[inline]

Definition at line 98 of file sensorData.h.

float SensorData::roll

(

)

[inline]

Definition at line 101 of file sensorData.h.

float SensorData::rollError

(

)

[inline]

Definition at line 62 of file sensorData.h.

int SensorData::SatelliteNumber

(

)

[inline]

Definition at line 78 of file sensorData.h.

float SensorData::SpeedAccuracy

(

)

[inline]

Definition at line 76 of file sensorData.h.

float SensorData::tdop

(

)

[inline]

Definition at line 54 of file sensorData.h.

float SensorData::temperature

(

)

[inline]

Definition at line 93 of file sensorData.h.

float SensorData::to_rad_sqr

(

float

x

)

[inline]

Definition at line 65 of file sensorData.h.

float SensorData::vdop

(

)

[inline]

Definition at line 51 of file sensorData.h.

float SensorData::velocity_x

(

)

[inline]

Definition at line 110 of file sensorData.h.

float SensorData::velocity_y

(

)

[inline]

Definition at line 111 of file sensorData.h.

float SensorData::velocity_z

(

)

[inline]

Definition at line 112 of file sensorData.h.

float SensorData::velocityDown

(

)

[inline]

Definition at line 121 of file sensorData.h.

float SensorData::velocityEast

(

)

[inline]

Definition at line 120 of file sensorData.h.

float SensorData::velocityNorth

(

)

[inline]

Definition at line 119 of file sensorData.h.

uint32_t SensorData::verticalAccuracy

(

)

[inline]

Definition at line 126 of file sensorData.h.

float SensorData::yaw

(

)

[inline]

Definition at line 103 of file sensorData.h.

float SensorData::yawError

(

)

[inline]

Definition at line 64 of file sensorData.h.

---

Member Data Documentation

float SensorData::acc_error [private]

Definition at line 22 of file sensorData.h.

float SensorData::acc_noise [private]

Definition at line 30 of file sensorData.h.

float SensorData::accX [private]

Definition at line 21 of file sensorData.h.

float SensorData::accY [private]

Definition at line 21 of file sensorData.h.

float SensorData::accZ [private]

Definition at line 21 of file sensorData.h.

float SensorData::epitch [private]

Definition at line 28 of file sensorData.h.

float SensorData::eroll [private]

Definition at line 28 of file sensorData.h.

float SensorData::eyaw [private]

Definition at line 28 of file sensorData.h.

std::string SensorData::frameId_string [private]

Definition at line 45 of file sensorData.h.

const unsigned char SensorData::GPS_FIX = 0x04 [static, private]

Definition at line 20 of file sensorData.h.

float SensorData::gpsVelocityX [private]

Definition at line 42 of file sensorData.h.

float SensorData::gpsVelocityY [private]

Definition at line 42 of file sensorData.h.

float SensorData::gpsVelocityZ [private]

Definition at line 42 of file sensorData.h.

float SensorData::gyr_error [private]

Definition at line 24 of file sensorData.h.

float SensorData::gyr_noise [private]

Definition at line 30 of file sensorData.h.

float SensorData::gyrX [private]

Definition at line 23 of file sensorData.h.

float SensorData::gyrY [private]

Definition at line 23 of file sensorData.h.

float SensorData::gyrZ [private]

Definition at line 23 of file sensorData.h.

float SensorData::m_edop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_gdop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_hdop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_itow [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_ndop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_pdop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_tdop [private]

Definition at line 35 of file sensorData.h.

float SensorData::m_vdop [private]

Definition at line 35 of file sensorData.h.

float SensorData::magX [private]

Definition at line 25 of file sensorData.h.

float SensorData::magY [private]

Definition at line 25 of file sensorData.h.

float SensorData::magZ [private]

Definition at line 25 of file sensorData.h.

float SensorData::mAltitude [private]

Definition at line 39 of file sensorData.h.

int SensorData::mGpsFixStatus [private]

Definition at line 37 of file sensorData.h.

uint32_t SensorData::mHorizontalAccuracy [private]

Definition at line 44 of file sensorData.h.

float SensorData::mLatitude [private]

Definition at line 39 of file sensorData.h.

float SensorData::mLongitude [private]

Definition at line 39 of file sensorData.h.

float SensorData::mPositionAccuracy [private]

Definition at line 36 of file sensorData.h.

float SensorData::mPressure [private]

Definition at line 26 of file sensorData.h.

int SensorData::mSatelliteNumber [private]

Definition at line 37 of file sensorData.h.

float SensorData::mSpeedAccuracy [private]

Definition at line 36 of file sensorData.h.

unsigned char SensorData::mStatus [private]

Definition at line 43 of file sensorData.h.

float SensorData::mTemperature [private]

Definition at line 26 of file sensorData.h.

float SensorData::mVelocityDown [private]

Definition at line 40 of file sensorData.h.

float SensorData::mVelocityEast [private]

Definition at line 40 of file sensorData.h.

float SensorData::mVelocityNorth [private]

Definition at line 40 of file sensorData.h.

float SensorData::mVelocityX [private]

Definition at line 41 of file sensorData.h.

float SensorData::mVelocityY [private]

Definition at line 41 of file sensorData.h.

float SensorData::mVelocityZ [private]

Definition at line 41 of file sensorData.h.

uint32_t SensorData::mVerticalAccuracy [private]

Definition at line 44 of file sensorData.h.

float SensorData::pitch_error [private]

Definition at line 29 of file sensorData.h.

float SensorData::q0 [private]

Definition at line 27 of file sensorData.h.

float SensorData::q1 [private]

Definition at line 27 of file sensorData.h.

float SensorData::q2 [private]

Definition at line 27 of file sensorData.h.

float SensorData::q3 [private]

Definition at line 27 of file sensorData.h.

tf::Quaternion SensorData::q_orientation [private]

Definition at line 32 of file sensorData.h.

float SensorData::roll_error [private]

Definition at line 29 of file sensorData.h.

unsigned int SensorData::ts [private]

Definition at line 31 of file sensorData.h.

float SensorData::yaw_error [private]

Definition at line 29 of file sensorData.h.

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The documentation for this class was generated from the following files:

• sensorData.h
• sensorData.cpp