#include <yocto_refframe.h>

Inheritance diagram for YRefFrame:

Public Member Functions
virtual int	_calibSort (int start, int stopidx)

virtual int	_invokeValueCallback (string value)

double	bearing (void)

string	calibrationParam (void)

virtual int	cancel3DCalibration (void)

Y_FUSIONMODE_enum	fusionMode (void)

virtual string	get_3DCalibrationHint (void)

virtual string	get_3DCalibrationLogMsg (void)

virtual int	get_3DCalibrationProgress (void)

virtual int	get_3DCalibrationStage (void)

virtual int	get_3DCalibrationStageProgress (void)

double	get_bearing (void)

string	get_calibrationParam (void)

virtual int	get_calibrationState (void)

Y_FUSIONMODE_enum	get_fusionMode (void)

virtual int	get_measureQuality (void)

virtual Y_MOUNTORIENTATION	get_mountOrientation (void)

int	get_mountPos (void)

virtual Y_MOUNTPOSITION	get_mountPosition (void)

virtual int	more3DCalibration (void)

virtual int	more3DCalibrationV1 (void)

virtual int	more3DCalibrationV2 (void)

int	mountPos (void)

YRefFrame *	next (void)

YRefFrame *	nextRefFrame (void)

virtual int	registerValueCallback (YRefFrameValueCallback callback)

virtual int	save3DCalibration (void)

virtual int	save3DCalibrationV1 (void)

virtual int	save3DCalibrationV2 (void)

int	set_bearing (double newval)

int	set_calibrationParam (const string &newval)

int	set_fusionMode (Y_FUSIONMODE_enum newval)

int	set_mountPos (int newval)

virtual int	set_mountPosition (Y_MOUNTPOSITION position, Y_MOUNTORIENTATION orientation)

int	setBearing (double newval)

int	setCalibrationParam (const string &newval)

int	setFusionMode (Y_FUSIONMODE_enum newval)

int	setMountPos (int newval)

virtual int	start3DCalibration (void)

	~YRefFrame ()

Public Member Functions inherited from YFunction
void	_clearDataStreamCache ()

string	_decode_json_string (const string &json)

string	_download (const string &url)

YDataStream *	_findDataStream (YDataSet &dataset, const string &def)

string	_get_json_path (const string &json, const string &path)

vector< string >	_json_get_array (const string &json)

string	_json_get_key (const string &json, const string &data)

string	_json_get_string (const string &json)

int	_parseEx (yJsonStateMachine &j)

virtual int	_parserHelper (void)

string	_parseString (yJsonStateMachine &j)

string	_request (const string &request)

string	_requestEx (int tcpchan, const string &request, yapiRequestProgressCallback callback, void *context)

void	_throw (YRETCODE errType, string errMsg)

YRETCODE	_upload (const string &path, const string &content)

YRETCODE	_uploadWithProgress (const string &path, const string &content, yapiRequestProgressCallback callback, void *context)

string	advertisedValue (void)

void	clearCache ()

string	describe (void)

string	errMessage (void)

string	errorMessage (void)

YRETCODE	errorType (void)

YRETCODE	errType (void)

YFUN_DESCR	functionDescriptor (void)

string	get_advertisedValue (void)

string	get_errorMessage (void)

YRETCODE	get_errorType (void)

virtual string	get_friendlyName (void)

YFUN_DESCR	get_functionDescriptor (void)

string	get_functionId (void)

string	get_hardwareId (void)

string	get_hubSerial ()

string	get_logicalName (void)

YModule *	get_module (void)

void *	get_userData (void)

bool	isOnline (void)

YRETCODE	load (int msValidity)

virtual string	loadAttribute (string attrName)

string	logicalName (void)

YModule *	module (void)

virtual int	muteValueCallbacks (void)

YFunction *	next (void)

YFunction *	nextFunction (void)

virtual int	registerValueCallback (YFunctionValueCallback callback)

int	set_advertisedValue (const string &newval)

int	set_logicalName (const string &newval)

void	set_userData (void *data)

int	setAdvertisedValue (const string &newval)

int	setLogicalName (const string &newval)

void	setUserData (void *data)

virtual int	unmuteValueCallbacks (void)

void *	userData (void)

virtual	~YFunction ()

Static Public Member Functions
static YRefFrame *	Find (string func)

static YRefFrame *	FindRefFrame (string func)

static YRefFrame *	First (void)

static YRefFrame *	FirstRefFrame (void)

Static Public Member Functions inherited from YFunction
static void	_ClearCache (void)

static YFunction *	Find (string func)

static YFunction *	FindFunction (string func)

static YFunction *	First (void)

static YFunction *	FirstFunction (void)

Static Public Attributes
static const double	BEARING_INVALID = YAPI_INVALID_DOUBLE

static const string	CALIBRATIONPARAM_INVALID = YAPI_INVALID_STRING

static const Y_FUSIONMODE_enum	FUSIONMODE_COMPASS = Y_FUSIONMODE_COMPASS

static const Y_FUSIONMODE_enum	FUSIONMODE_IMU = Y_FUSIONMODE_IMU

static const Y_FUSIONMODE_enum	FUSIONMODE_INVALID = Y_FUSIONMODE_INVALID

static const Y_FUSIONMODE_enum	FUSIONMODE_M4G = Y_FUSIONMODE_M4G

static const Y_FUSIONMODE_enum	FUSIONMODE_NDOF = Y_FUSIONMODE_NDOF

static const Y_FUSIONMODE_enum	FUSIONMODE_NDOF_FMC_OFF = Y_FUSIONMODE_NDOF_FMC_OFF

static const Y_MOUNTORIENTATION	MOUNTORIENTATION_INVALID = Y_MOUNTORIENTATION_INVALID

static const Y_MOUNTORIENTATION	MOUNTORIENTATION_NINE = Y_MOUNTORIENTATION_NINE

static const Y_MOUNTORIENTATION	MOUNTORIENTATION_SIX = Y_MOUNTORIENTATION_SIX

static const Y_MOUNTORIENTATION	MOUNTORIENTATION_THREE = Y_MOUNTORIENTATION_THREE

static const Y_MOUNTORIENTATION	MOUNTORIENTATION_TWELVE = Y_MOUNTORIENTATION_TWELVE

static const int	MOUNTPOS_INVALID = YAPI_INVALID_UINT

static const Y_MOUNTPOSITION	MOUNTPOSITION_BOTTOM = Y_MOUNTPOSITION_BOTTOM

static const Y_MOUNTPOSITION	MOUNTPOSITION_FRONT = Y_MOUNTPOSITION_FRONT

static const Y_MOUNTPOSITION	MOUNTPOSITION_INVALID = Y_MOUNTPOSITION_INVALID

static const Y_MOUNTPOSITION	MOUNTPOSITION_LEFT = Y_MOUNTPOSITION_LEFT

static const Y_MOUNTPOSITION	MOUNTPOSITION_REAR = Y_MOUNTPOSITION_REAR

static const Y_MOUNTPOSITION	MOUNTPOSITION_RIGHT = Y_MOUNTPOSITION_RIGHT

static const Y_MOUNTPOSITION	MOUNTPOSITION_TOP = Y_MOUNTPOSITION_TOP

Static Public Attributes inherited from YFunction
static const string	ADVERTISEDVALUE_INVALID = YAPI_INVALID_STRING

static const string	FRIENDLYNAME_INVALID = YAPI_INVALID_STRING

static const YFUN_DESCR	FUNCTIONDESCRIPTOR_INVALID = Y_FUNCTIONDESCRIPTOR_INVALID

static const string	FUNCTIONID_INVALID = YAPI_INVALID_STRING

static const string	HARDWAREID_INVALID = YAPI_INVALID_STRING

static const string	LOGICALNAME_INVALID = YAPI_INVALID_STRING

Protected Member Functions
virtual int	_parseAttr (YJSONObject *json_val)

	YRefFrame (const string &func)

Protected Member Functions inherited from YFunction
YRETCODE	_buildSetRequest (const string &changeattr, const string *changeval, string &request, string &errmsg)

string	_escapeAttr (const string &changeval)

YRETCODE	_getDescriptor (YFUN_DESCR &fundescr, string &errMsg)

YRETCODE	_getDevice (YDevice *&dev, string &errMsg)

YRETCODE	_load_unsafe (int msValidity)

YRETCODE	_nextFunction (string &hwId)

int	_parse (YJSONObject *j)

YRETCODE	_setAttr (string attrname, string newvalue)

	YFunction (const string &func)

Protected Attributes
double	_bearing

double	_calibAccXOfs

double	_calibAccXScale

double	_calibAccYOfs

double	_calibAccYScale

double	_calibAccZOfs

double	_calibAccZScale

int	_calibCount

vector< double >	_calibDataAcc

vector< double >	_calibDataAccX

vector< double >	_calibDataAccY

vector< double >	_calibDataAccZ

int	_calibInternalPos

string	_calibLogMsg

vector< int >	_calibOrient

int	_calibPrevTick

int	_calibProgress

string	_calibrationParam

string	_calibSavedParams

int	_calibStage

string	_calibStageHint

int	_calibStageProgress

bool	_calibV2

Y_FUSIONMODE_enum	_fusionMode

int	_mountPos

YRefFrameValueCallback	_valueCallbackRefFrame

Protected Attributes inherited from YFunction
string	_advertisedValue

u64	_cacheExpiration

string	_className

std::map< string, YDataStream * >	_dataStreams

string	_func

YFUN_DESCR	_fundescr

string	_funId

string	_hwId

string	_lastErrorMsg

YRETCODE	_lastErrorType

string	_logicalName

string	_serial

yCRITICAL_SECTION	_this_cs

void *	_userData

YFunctionValueCallback	_valueCallbackFunction

Friends
YRefFrame *	yFindRefFrame (const string &func)

YRefFrame *	yFirstRefFrame (void)

Additional Inherited Members
Static Protected Member Functions inherited from YFunction
static void	_AddToCache (const string &classname, const string &func, YFunction *obj)

static YFunction *	_FindFromCache (const string &classname, const string &func)

static void	_UpdateTimedReportCallbackList (YFunction *func, bool add)

static void	_UpdateValueCallbackList (YFunction *func, bool add)

Static Protected Attributes inherited from YFunction
static std::map< string, YFunction * >	_cache

Detailed Description

YRefFrame Class: Reference frame configuration

This class is used to setup the base orientation of the Yocto-3D, so that the orientation functions, relative to the earth surface plane, use the proper reference frame. The class also implements a tridimensional sensor calibration process, which can compensate for local variations of standard gravity and improve the precision of the tilt sensors.

Definition at line 105 of file yocto_refframe.h.

Constructor & Destructor Documentation

YRefFrame::YRefFrame ( const string & func )

protected

Definition at line 51 of file yocto_refframe.cpp.

YRefFrame::~YRefFrame ( )

Definition at line 76 of file yocto_refframe.cpp.

Member Function Documentation

int YRefFrame::_calibSort	(	int	start,
		int	stopidx
	)

virtual

Definition at line 516 of file yocto_refframe.cpp.

int YRefFrame::_invokeValueCallback ( string value )

virtual

Reimplemented from YFunction.

Definition at line 365 of file yocto_refframe.cpp.

int YRefFrame::_parseAttr ( YJSONObject * json_val )

protectedvirtual

Reimplemented from YFunction.

Definition at line 86 of file yocto_refframe.cpp.

double YRefFrame::bearing ( void )

inline

Definition at line 222 of file yocto_refframe.h.

string YRefFrame::calibrationParam ( void )

inline

Definition at line 227 of file yocto_refframe.h.

int YRefFrame::cancel3DCalibration ( void )

virtual

Aborts the sensors tridimensional calibration process et restores normal settings.

On failure, throws an exception or returns a negative error code.

Definition at line 1026 of file yocto_refframe.cpp.

static YRefFrame* YRefFrame::Find ( string func )

inlinestatic

Definition at line 475 of file yocto_refframe.h.

YRefFrame * YRefFrame::FindRefFrame ( string func )

static

Retrieves a reference frame for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the reference frame is online at the time it is invoked. The returned object is nevertheless valid. Use the method YRefFrame.isOnline() to test if the reference frame is indeed online at a given time. In case of ambiguity when looking for a reference frame by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the reference frame

Returns: a YRefFrame object allowing you to drive the reference frame.

Definition at line 314 of file yocto_refframe.cpp.

static YRefFrame* YRefFrame::First ( void )

inlinestatic

Definition at line 499 of file yocto_refframe.h.

YRefFrame * YRefFrame::FirstRefFrame ( void )

static

Starts the enumeration of reference frames currently accessible. Use the method YRefFrame.nextRefFrame() to iterate on next reference frames.

Returns: a pointer to a YRefFrame object, corresponding to the first reference frame currently online, or a NULL pointer if there are none.

Definition at line 1046 of file yocto_refframe.cpp.

Y_FUSIONMODE_enum YRefFrame::fusionMode ( void )

inline

Definition at line 236 of file yocto_refframe.h.

string YRefFrame::get_3DCalibrationHint ( void )

virtual

Returns instructions to proceed to the tridimensional calibration initiated with method start3DCalibration.

Returns: a character string.

Definition at line 883 of file yocto_refframe.cpp.

string YRefFrame::get_3DCalibrationLogMsg ( void )

virtual

Returns the latest log message from the calibration process. When no new message is available, returns an empty string.

Returns: a character string.

Definition at line 927 of file yocto_refframe.cpp.

int YRefFrame::get_3DCalibrationProgress ( void )

virtual

Returns the global process indicator for the tridimensional calibration initiated with method start3DCalibration.

Returns: an integer between 0 (not started) and 100 (stage completed).

Definition at line 894 of file yocto_refframe.cpp.

int YRefFrame::get_3DCalibrationStage ( void )

virtual

Returns index of the current stage of the calibration initiated with method start3DCalibration.

Returns: an integer, growing each time a calibration stage is completed.

Definition at line 905 of file yocto_refframe.cpp.

int YRefFrame::get_3DCalibrationStageProgress ( void )

virtual

Returns the process indicator for the current stage of the calibration initiated with method start3DCalibration.

Returns: an integer between 0 (not started) and 100 (stage completed).

Definition at line 916 of file yocto_refframe.cpp.

double YRefFrame::get_bearing ( void )

Returns the reference bearing used by the compass. The relative bearing indicated by the compass is the difference between the measured magnetic heading and the reference bearing indicated here.

Returns: a floating point number corresponding to the reference bearing used by the compass

On failure, throws an exception or returns Y_BEARING_INVALID.

Definition at line 189 of file yocto_refframe.cpp.

string YRefFrame::get_calibrationParam ( void )

Definition at line 211 of file yocto_refframe.cpp.

int YRefFrame::get_calibrationState ( void )

virtual

Returns the 3D sensor calibration state (Yocto-3D-V2 only). This function returns an integer representing the calibration state of the 3 inertial sensors of the BNO055 chip, found in the Yocto-3D-V2. Hundredths show the calibration state of the accelerometer, tenths show the calibration state of the magnetometer while units show the calibration state of the gyroscope. For each sensor, the value 0 means no calibration and the value 3 means full calibration.

Returns: an integer representing the calibration state of Yocto-3D-V2: 333 when fully calibrated, 0 when not calibrated at all.

On failure, throws an exception or returns a negative error code. For the Yocto-3D (V1), this function always return -3 (unsupported function).

Definition at line 469 of file yocto_refframe.cpp.

Y_FUSIONMODE_enum YRefFrame::get_fusionMode ( void )

Definition at line 249 of file yocto_refframe.cpp.

int YRefFrame::get_measureQuality ( void )

virtual

Returns estimated quality of the orientation (Yocto-3D-V2 only). This function returns an integer between 0 and 3 representing the degree of confidence of the position estimate. When the value is 3, the estimation is reliable. Below 3, one should expect sudden corrections, in particular for heading (compass function). The most frequent causes for values below 3 are magnetic interferences, and accelerations or rotations beyond the sensor range.

Returns: an integer between 0 and 3 (3 when the measure is reliable)

On failure, throws an exception or returns a negative error code. For the Yocto-3D (V1), this function always return -3 (unsupported function).

Definition at line 499 of file yocto_refframe.cpp.

Y_MOUNTORIENTATION YRefFrame::get_mountOrientation ( void )

virtual

Returns the installation orientation of the device, as configured in order to define the reference frame for the compass and the pitch/roll tilt sensors.

Returns: a value among the enumeration Y_MOUNTORIENTATION (Y_MOUNTORIENTATION_TWELVE, Y_MOUNTORIENTATION_THREE, Y_MOUNTORIENTATION_SIX, Y_MOUNTORIENTATION_NINE) corresponding to the orientation of the "X" arrow on the device, as on a clock dial seen from an observer in the center of the box. On the bottom face, the 12H orientation points to the front, while on the top face, the 12H orientation points to the rear.

On failure, throws an exception or returns Y_MOUNTORIENTATION_INVALID.

Definition at line 413 of file yocto_refframe.cpp.

int YRefFrame::get_mountPos ( void )

Definition at line 104 of file yocto_refframe.cpp.

Y_MOUNTPOSITION YRefFrame::get_mountPosition ( void )

virtual

Returns the installation position of the device, as configured in order to define the reference frame for the compass and the pitch/roll tilt sensors.

Returns: a value among the Y_MOUNTPOSITION enumeration (Y_MOUNTPOSITION_BOTTOM, Y_MOUNTPOSITION_TOP, Y_MOUNTPOSITION_FRONT, Y_MOUNTPOSITION_RIGHT, Y_MOUNTPOSITION_REAR, Y_MOUNTPOSITION_LEFT), corresponding to the installation in a box, on one of the six faces.

On failure, throws an exception or returns Y_MOUNTPOSITION_INVALID.

Definition at line 388 of file yocto_refframe.cpp.

int YRefFrame::more3DCalibration ( void )

virtual

Continues the sensors tridimensional calibration process previously initiated using method start3DCalibration. This method should be called approximately 5 times per second, while positioning the device according to the instructions provided by method get_3DCalibrationHint. Note that the instructions change during the calibration process.

On failure, throws an exception or returns a negative error code.

Definition at line 609 of file yocto_refframe.cpp.

int YRefFrame::more3DCalibrationV1 ( void )

virtual

Definition at line 617 of file yocto_refframe.cpp.

int YRefFrame::more3DCalibrationV2 ( void )

virtual

Definition at line 818 of file yocto_refframe.cpp.

int YRefFrame::mountPos ( void )

inline

Definition at line 178 of file yocto_refframe.h.

YRefFrame* YRefFrame::next ( void )

inline

Definition at line 486 of file yocto_refframe.h.

YRefFrame * YRefFrame::nextRefFrame ( void )

Continues the enumeration of reference frames started using yFirstRefFrame().

Returns: a pointer to a YRefFrame object, corresponding to a reference frame currently online, or a NULL pointer if there are no more reference frames to enumerate.

Definition at line 1036 of file yocto_refframe.cpp.

int YRefFrame::registerValueCallback ( YRefFrameValueCallback callback )

virtual

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument.

Parameters

callback : the callback function to call, or a NULL pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

Definition at line 346 of file yocto_refframe.cpp.

int YRefFrame::save3DCalibration ( void )

virtual

Applies the sensors tridimensional calibration parameters that have just been computed. Remember to call the saveToFlash() method of the module if the changes must be kept when the device is restarted.

On failure, throws an exception or returns a negative error code.

Definition at line 942 of file yocto_refframe.cpp.

int YRefFrame::save3DCalibrationV1 ( void )

virtual

Definition at line 950 of file yocto_refframe.cpp.

int YRefFrame::save3DCalibrationV2 ( void )

virtual

Definition at line 1016 of file yocto_refframe.cpp.

int YRefFrame::set_bearing ( double newval )

Changes the reference bearing used by the compass. The relative bearing indicated by the compass is the difference between the measured magnetic heading and the reference bearing indicated here.

For instance, if you setup as reference bearing the value of the earth magnetic declination, the compass will provide the orientation relative to the geographic North.

Similarly, when the sensor is not mounted along the standard directions because it has an additional yaw angle, you can set this angle in the reference bearing so that the compass provides the expected natural direction.

Remember to call the saveToFlash() method of the module if the modification must be kept.

Parameters

newval : a floating point number corresponding to the reference bearing used by the compass

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 164 of file yocto_refframe.cpp.

int YRefFrame::set_calibrationParam ( const string & newval )

Definition at line 233 of file yocto_refframe.cpp.

int YRefFrame::set_fusionMode ( Y_FUSIONMODE_enum newval )

Definition at line 271 of file yocto_refframe.cpp.

int YRefFrame::set_mountPos ( int newval )

Definition at line 126 of file yocto_refframe.cpp.

int YRefFrame::set_mountPosition	(	Y_MOUNTPOSITION	position,
		Y_MOUNTORIENTATION	orientation
	)

virtual

Changes the compass and tilt sensor frame of reference. The magnetic compass and the tilt sensors (pitch and roll) naturally work in the plane parallel to the earth surface. In case the device is not installed upright and horizontally, you must select its reference orientation (parallel to the earth surface) so that the measures are made relative to this position.

Parameters

position : a value among the Y_MOUNTPOSITION enumeration (Y_MOUNTPOSITION_BOTTOM, Y_MOUNTPOSITION_TOP, Y_MOUNTPOSITION_FRONT, Y_MOUNTPOSITION_RIGHT, Y_MOUNTPOSITION_REAR, Y_MOUNTPOSITION_LEFT), corresponding to the installation in a box, on one of the six faces.

orientation : a value among the enumeration Y_MOUNTORIENTATION (Y_MOUNTORIENTATION_TWELVE, Y_MOUNTORIENTATION_THREE, Y_MOUNTORIENTATION_SIX, Y_MOUNTORIENTATION_NINE) corresponding to the orientation of the "X" arrow on the device, as on a clock dial seen from an observer in the center of the box. On the bottom face, the 12H orientation points to the front, while on the top face, the 12H orientation points to the rear.

Remember to call the saveToFlash() method of the module if the modification must be kept.

On failure, throws an exception or returns a negative error code.

Definition at line 448 of file yocto_refframe.cpp.

int YRefFrame::setBearing ( double newval )

inline

Definition at line 208 of file yocto_refframe.h.

int YRefFrame::setCalibrationParam ( const string & newval )

inline

Definition at line 231 of file yocto_refframe.h.

int YRefFrame::setFusionMode ( Y_FUSIONMODE_enum newval )

inline

Definition at line 240 of file yocto_refframe.h.

int YRefFrame::setMountPos ( int newval )

inline

Definition at line 182 of file yocto_refframe.h.

int YRefFrame::start3DCalibration ( void )

virtual

Initiates the sensors tridimensional calibration process. This calibration is used at low level for inertial position estimation and to enhance the precision of the tilt sensors.

After calling this method, the device should be moved according to the instructions provided by method get_3DCalibrationHint, and more3DCalibration should be invoked about 5 times per second. The calibration procedure is completed when the method get_3DCalibrationProgress returns 100. At this point, the computed calibration parameters can be applied using method save3DCalibration. The calibration process can be canceled at any time using method cancel3DCalibration.

On failure, throws an exception or returns a negative error code.

Definition at line 573 of file yocto_refframe.cpp.

Friends And Related Function Documentation

YRefFrame* yFindRefFrame ( const string & func )

friend

Retrieves a reference frame for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the reference frame is online at the time it is invoked. The returned object is nevertheless valid. Use the method YRefFrame.isOnline() to test if the reference frame is indeed online at a given time. In case of ambiguity when looking for a reference frame by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the reference frame

Returns: a YRefFrame object allowing you to drive the reference frame.

Definition at line 536 of file yocto_refframe.h.

YRefFrame* yFirstRefFrame ( void )

friend

Starts the enumeration of reference frames currently accessible. Use the method YRefFrame.nextRefFrame() to iterate on next reference frames.

Returns: a pointer to a YRefFrame object, corresponding to the first reference frame currently online, or a NULL pointer if there are none.

Definition at line 547 of file yocto_refframe.h.

Member Data Documentation

double YRefFrame::_bearing

protected

Definition at line 114 of file yocto_refframe.h.

double YRefFrame::_calibAccXOfs

protected

Definition at line 133 of file yocto_refframe.h.

double YRefFrame::_calibAccXScale

protected

Definition at line 136 of file yocto_refframe.h.

double YRefFrame::_calibAccYOfs

protected

Definition at line 134 of file yocto_refframe.h.

double YRefFrame::_calibAccYScale

protected

Definition at line 137 of file yocto_refframe.h.

double YRefFrame::_calibAccZOfs

protected

Definition at line 135 of file yocto_refframe.h.

double YRefFrame::_calibAccZScale

protected

Definition at line 138 of file yocto_refframe.h.

int YRefFrame::_calibCount

protected

Definition at line 125 of file yocto_refframe.h.

vector<double> YRefFrame::_calibDataAcc

protected

Definition at line 132 of file yocto_refframe.h.

vector<double> YRefFrame::_calibDataAccX

protected

Definition at line 129 of file yocto_refframe.h.

vector<double> YRefFrame::_calibDataAccY

protected

Definition at line 130 of file yocto_refframe.h.

vector<double> YRefFrame::_calibDataAccZ

protected

Definition at line 131 of file yocto_refframe.h.

int YRefFrame::_calibInternalPos

protected

Definition at line 126 of file yocto_refframe.h.

string YRefFrame::_calibLogMsg

protected

Definition at line 123 of file yocto_refframe.h.

vector<int> YRefFrame::_calibOrient

protected

Definition at line 128 of file yocto_refframe.h.

int YRefFrame::_calibPrevTick

protected

Definition at line 127 of file yocto_refframe.h.

int YRefFrame::_calibProgress

protected

Definition at line 122 of file yocto_refframe.h.

string YRefFrame::_calibrationParam

protected

Definition at line 115 of file yocto_refframe.h.

string YRefFrame::_calibSavedParams

protected

Definition at line 124 of file yocto_refframe.h.

int YRefFrame::_calibStage

protected

Definition at line 119 of file yocto_refframe.h.

string YRefFrame::_calibStageHint

protected

Definition at line 120 of file yocto_refframe.h.

int YRefFrame::_calibStageProgress

protected

Definition at line 121 of file yocto_refframe.h.

bool YRefFrame::_calibV2

protected

Definition at line 118 of file yocto_refframe.h.

Y_FUSIONMODE_enum YRefFrame::_fusionMode

protected

Definition at line 116 of file yocto_refframe.h.

int YRefFrame::_mountPos

protected

Definition at line 113 of file yocto_refframe.h.

YRefFrameValueCallback YRefFrame::_valueCallbackRefFrame

protected

Definition at line 117 of file yocto_refframe.h.

const double YRefFrame::BEARING_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 155 of file yocto_refframe.h.

const string YRefFrame::CALIBRATIONPARAM_INVALID = YAPI_INVALID_STRING

static

Definition at line 156 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_COMPASS = Y_FUSIONMODE_COMPASS

static

Definition at line 160 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_IMU = Y_FUSIONMODE_IMU

static

Definition at line 161 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_INVALID = Y_FUSIONMODE_INVALID

static

Definition at line 162 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_M4G = Y_FUSIONMODE_M4G

static

Definition at line 159 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_NDOF = Y_FUSIONMODE_NDOF

static

Definition at line 157 of file yocto_refframe.h.

const Y_FUSIONMODE_enum YRefFrame::FUSIONMODE_NDOF_FMC_OFF = Y_FUSIONMODE_NDOF_FMC_OFF

static

Definition at line 158 of file yocto_refframe.h.

const Y_MOUNTORIENTATION YRefFrame::MOUNTORIENTATION_INVALID = Y_MOUNTORIENTATION_INVALID

static

Definition at line 174 of file yocto_refframe.h.

const Y_MOUNTORIENTATION YRefFrame::MOUNTORIENTATION_NINE = Y_MOUNTORIENTATION_NINE

static

Definition at line 173 of file yocto_refframe.h.

const Y_MOUNTORIENTATION YRefFrame::MOUNTORIENTATION_SIX = Y_MOUNTORIENTATION_SIX

static

Definition at line 172 of file yocto_refframe.h.

const Y_MOUNTORIENTATION YRefFrame::MOUNTORIENTATION_THREE = Y_MOUNTORIENTATION_THREE

static

Definition at line 171 of file yocto_refframe.h.

const Y_MOUNTORIENTATION YRefFrame::MOUNTORIENTATION_TWELVE = Y_MOUNTORIENTATION_TWELVE

static

Definition at line 170 of file yocto_refframe.h.

const int YRefFrame::MOUNTPOS_INVALID = YAPI_INVALID_UINT

static

Definition at line 154 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_BOTTOM = Y_MOUNTPOSITION_BOTTOM

static

Definition at line 163 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_FRONT = Y_MOUNTPOSITION_FRONT

static

Definition at line 165 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_INVALID = Y_MOUNTPOSITION_INVALID

static

Definition at line 169 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_LEFT = Y_MOUNTPOSITION_LEFT

static

Definition at line 168 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_REAR = Y_MOUNTPOSITION_REAR

static

Definition at line 166 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_RIGHT = Y_MOUNTPOSITION_RIGHT

static

Definition at line 167 of file yocto_refframe.h.

const Y_MOUNTPOSITION YRefFrame::MOUNTPOSITION_TOP = Y_MOUNTPOSITION_TOP

static

Definition at line 164 of file yocto_refframe.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation