rt_usb_9axisimu_driver.hpp
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1 /*
2  * rt_usb_9axisimu_driver.hpp
3  *
4  * License: BSD-3-Clause
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33 
34 #ifndef RT_USB_9AXISIMU_BINARY_MODE_H_
35 #define RT_USB_9AXISIMU_BINARY_MODE_H_
36 
37 #include "ros/ros.h"
39 
41 {
42 private:
44 
48 
50 
51  std::string frame_id_;
56 
58  {
59  NONE = 0,
65  };
69 
70  // Method to combine two separate one-byte data into one two-byte data
71  int16_t combineByteData(unsigned char data_h, unsigned char data_l);
72  // Method to extract binary sensor data from communication buffer
74  bool isBinarySensorData(unsigned char* imu_data_buf);
75  bool readBinaryData(void);
76  bool isValidAsciiSensorData(std::vector<std::string> imu_data_vector_buf);
77  bool readAsciiData(void);
78 
79 public:
80  RtUsb9axisimuRosDriver(std::string serialport);
82 
83  void setImuFrameIdName(std::string frame_id);
84  void setImuPortName(std::string serialport);
85  void setImuStdDev(double linear_acceleration, double angular_velocity, double magnetic_field);
86 
87  bool startCommunication();
88  void stopCommunication(void);
89  void checkDataFormat(void);
90  bool hasCompletedFormatCheck(void);
91  bool hasAsciiDataFormat(void);
92  bool hasBinaryDataFormat(void);
93  bool hasRefreshedImuData(void);
94 
95  bool publishImuData();
96  bool readSensorData();
97 };
98 
99 #endif
void setImuPortName(std::string serialport)
rt_usb_9axisimu::Consts consts
rt_usb_9axisimu::ImuData< int16_t > extractBinarySensorData(unsigned char *imu_data_buf)
void setImuStdDev(double linear_acceleration, double angular_velocity, double magnetic_field)
bool isBinarySensorData(unsigned char *imu_data_buf)
int16_t combineByteData(unsigned char data_h, unsigned char data_l)
rt_usb_9axisimu::SensorData sensor_data_
RtUsb9axisimuRosDriver(std::string serialport)
bool isValidAsciiSensorData(std::vector< std::string > imu_data_vector_buf)
void setImuFrameIdName(std::string frame_id)


rt_usb_9axisimu_driver
Author(s): RT Corporation
autogenerated on Mon Dec 14 2020 03:34:37