crl::multisense::imu::Info Class Reference

#include <MultiSenseTypes.hh>

Classes
struct	RangeEntry
struct	RateEntry

Public Attributes
std::string	device
std::string	name
std::vector< RangeEntry >	ranges
std::vector< RateEntry >	rates
std::string	units

Detailed Description

Class containing detailed information for the IMU. A vector of Info classes are returned by reference in crl::multisense::Channel::getImuInfo

See http://docs.carnegierobotics.com/ for more info on the specific IMU sensors used

Example code to query IMU info:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");

channel->setMtu(7200);

//
// Create a vector of IMU info instances to store information for
// each IMU sensor
std::vector<crl::multisense::imu::Info> imuInfoVect;

//
// Create a uint32_t to store the maxSamplesPerMessage quantity returned
// by reference from getImuInfo
uint32_t maxSamplesPerMessage;

//
// Query the IMU info from the Channel instance
crl::multisense::Status status = channel->getImuInfo(maxSamplesPerMessage, imuInfoVect);

//
// Check to see if the IMU info query was sucessful
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query imu info");
}

//
// Use the imu info...

//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 1962 of file MultiSenseTypes.hh.

Member Data Documentation

std::string crl::multisense::imu::Info::device

The device name for a specific IMU source

Definition at line 1989 of file MultiSenseTypes.hh.

std::string crl::multisense::imu::Info::name

The name of a specific IMU source

Definition at line 1987 of file MultiSenseTypes.hh.

std::vector<RangeEntry> crl::multisense::imu::Info::ranges

The various ranges and resolutions available for a specific IMU source

Definition at line 1995 of file MultiSenseTypes.hh.

std::vector<RateEntry> crl::multisense::imu::Info::rates

The various rates available for a specific IMU source

Definition at line 1993 of file MultiSenseTypes.hh.

std::string crl::multisense::imu::Info::units

The units of for a specific IMU source

Definition at line 1991 of file MultiSenseTypes.hh.

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

• MultiSenseTypes.hh