Class Spatial

Defined in File spatial.hpp

Class Documentation

class Spatial

Public Functions

explicit Spatial(int32_t serial_number, int hub_port, bool is_hub_port_device, std::function<void(const double[3], const double[3], const double[3], double)> data_handler, std::function<void(const double[4], double)> algorithm_data_handler, std::function<void()> attach_handler = nullptr, std::function<void()> detach_handler = nullptr)

~Spatial()

int32_t getSerialNumber() const noexcept

void setCompassCorrectionParameters(double cc_mag_field, double cc_offset0, double cc_offset1, double cc_offset2, double cc_gain0, double cc_gain1, double cc_gain2, double cc_T0, double cc_T1, double cc_T2, double cc_T3, double cc_T4, double cc_T5)

void setSpatialAlgorithm(const std::string algorithm)

void setAHRSParameters(double angularVelocityThreshold, double angularVelocityDeltaThreshold, double accelerationThreshold, double magTime, double accelTime, double biasTime)

void setAlgorithmMagnetometerGain(double magnetometer_gain)

void setHeatingEnabled(bool heating_enabled)

void setDataInterval(uint32_t interval_ms) const

void zero() const

void dataHandler(const double acceleration[3], const double angular_rate[3], const double magnetic_field[3], double timestamp) const

void algorithmDataHandler(const double quaternion[4], double timestamp) const

virtual void attachHandler()

virtual void detachHandler()