Class IMU

Defined in File IMU.hpp

Inheritance Relationships

Base Types

public dai::DeviceNodeCRTP< DeviceNode, IMU, IMUProperties > (Template Class DeviceNodeCRTP)
public dai::SourceNode (Class SourceNode)

Class Documentation

class IMU : public dai::DeviceNodeCRTP<DeviceNode, IMU, IMUProperties>, public dai::SourceNode 

IMU node for BNO08X.

Public Functions

void enableIMUSensor(IMUSensorConfig sensorConfig): Enable a new IMU sensor with explicit configuration

void enableIMUSensor(const std::vector<IMUSensorConfig> &sensorConfigs): Enable a list of IMU sensors with explicit configuration

void enableIMUSensor(IMUSensor sensor, uint32_t reportRate): Enable a new IMU sensor with default configuration

void enableIMUSensor(const std::vector<IMUSensor> &sensors, uint32_t reportRate): Enable a list of IMU sensors with default configuration

void setBatchReportThreshold(std::int32_t batchReportThreshold): Above this packet threshold data will be sent to host, if queue is not blocked

std::int32_t getBatchReportThreshold() const: Above this packet threshold data will be sent to host, if queue is not blocked

void setMaxBatchReports(std::int32_t maxBatchReports): Maximum number of IMU packets in a batch report

std::int32_t getMaxBatchReports() const: Maximum number of IMU packets in a batch report

void enableFirmwareUpdate(bool enable)

inline DeviceNodeCRTP()

inline DeviceNodeCRTP(const std::shared_ptr<Device> &device)

inline DeviceNodeCRTP(std::unique_ptr<Properties> props)

inline DeviceNodeCRTP(std::unique_ptr<Properties> props, bool confMode)

inline DeviceNodeCRTP(const std::shared_ptr<Device> &device, std::unique_ptr<Properties> props, bool confMode)

Public Members

Output out = {*this, {"out", DEFAULT_GROUP, {{{DatatypeEnum::IMUData, false}}}}}: Outputs IMUData message that carries IMU packets.

Input mockIn = {*this, {"mockIn", DEFAULT_GROUP, DEFAULT_BLOCKING, DEFAULT_QUEUE_SIZE, {{{DatatypeEnum::IMUData, false}}}, DEFAULT_WAIT_FOR_MESSAGE}}: Mock IMU data for replaying recorded data

Public Static Attributes

static constexpr const char *NAME = "IMU"

Protected Functions

virtual bool isSourceNode() const override

virtual NodeRecordParams getNodeRecordParams() const override

virtual Output &getRecordOutput() override

virtual Input &getReplayInput() override