IMU.hpp

Go to the documentation of this file.

#pragma once
 
#include "depthai/pipeline/Node.hpp"
 
// shared
#include <depthai-shared/properties/IMUProperties.hpp>
 
namespace dai {
namespace node {
 
class IMU : public NodeCRTP<Node, IMU, IMUProperties> {
   public:
    constexpr static const char* NAME = "IMU";
 
    IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    IMU(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}};
 
    void enableIMUSensor(IMUSensorConfig sensorConfig);
 
    void enableIMUSensor(const std::vector<IMUSensorConfig>& sensorConfigs);
 
    void enableIMUSensor(IMUSensor sensor, uint32_t reportRate);
 
    void enableIMUSensor(const std::vector<IMUSensor>& sensors, uint32_t reportRate);
 
    void setBatchReportThreshold(std::int32_t batchReportThreshold);
 
    std::int32_t getBatchReportThreshold() const;
 
    void setMaxBatchReports(std::int32_t maxBatchReports);
 
    std::int32_t getMaxBatchReports() const;
 
    /*
     * Whether to perform firmware update or not.
     * Default value: false.
     */
    void enableFirmwareUpdate(bool enable);
};
 
}  // namespace node
}  // namespace dai