IMU node for BNO08X. More...

#include <IMU.hpp>

Inheritance diagram for dai::node::IMU:

Public Member Functions
void	enableFirmwareUpdate (bool enable)

void	enableIMUSensor (const std::vector< IMUSensor > &sensors, uint32_t reportRate)

void	enableIMUSensor (const std::vector< IMUSensorConfig > &sensorConfigs)

void	enableIMUSensor (IMUSensor sensor, uint32_t reportRate)

void	enableIMUSensor (IMUSensorConfig sensorConfig)

std::int32_t	getBatchReportThreshold () const

std::int32_t	getMaxBatchReports () const

	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)

void	setBatchReportThreshold (std::int32_t batchReportThreshold)

void	setMaxBatchReports (std::int32_t maxBatchReports)

Public Member Functions inherited from dai::NodeCRTP< Node, IMU, IMUProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
Output	out {*this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, IMU, IMUProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "IMU"

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, IMU, IMUProperties >
using	Properties = IMUProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Member Functions inherited from dai::Node
virtual Properties &	getProperties ()

virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

IMU node for BNO08X.

Definition at line 14 of file IMU.hpp.

Constructor & Destructor Documentation

◆ IMU() [1/2]

dai::node::IMU::IMU	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Constructs IMU node.

Definition at line 8 of file IMU.cpp.

◆ IMU() [2/2]

dai::node::IMU::IMU	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 9 of file IMU.cpp.

Member Function Documentation

◆ enableFirmwareUpdate()

void dai::node::IMU::enableFirmwareUpdate ( bool enable )

Definition at line 56 of file IMU.cpp.

◆ enableIMUSensor() [1/4]

void dai::node::IMU::enableIMUSensor	(	const std::vector< IMUSensor > &	sensors,
		uint32_t	reportRate
	)

Enable a list of IMU sensors with default configuration

Definition at line 29 of file IMU.cpp.

◆ enableIMUSensor() [2/4]

void dai::node::IMU::enableIMUSensor ( const std::vector< IMUSensorConfig > & sensorConfigs )

Enable a list of IMU sensors with explicit configuration

Definition at line 18 of file IMU.cpp.

◆ enableIMUSensor() [3/4]

void dai::node::IMU::enableIMUSensor	(	IMUSensor	sensor,
		uint32_t	reportRate
	)

Enable a new IMU sensor with default configuration

Definition at line 22 of file IMU.cpp.

◆ enableIMUSensor() [4/4]

void dai::node::IMU::enableIMUSensor ( IMUSensorConfig sensorConfig )

Enable a new IMU sensor with explicit configuration

Definition at line 14 of file IMU.cpp.

◆ getBatchReportThreshold()

std::int32_t dai::node::IMU::getBatchReportThreshold ( ) const

Above this packet threshold data will be sent to host, if queue is not blocked

Definition at line 44 of file IMU.cpp.

◆ getMaxBatchReports()

std::int32_t dai::node::IMU::getMaxBatchReports ( ) const

Maximum number of IMU packets in a batch report

Definition at line 52 of file IMU.cpp.

◆ setBatchReportThreshold()

void dai::node::IMU::setBatchReportThreshold ( std::int32_t batchReportThreshold )

Above this packet threshold data will be sent to host, if queue is not blocked

Definition at line 40 of file IMU.cpp.

◆ setMaxBatchReports()

void dai::node::IMU::setMaxBatchReports ( std::int32_t maxBatchReports )

Maximum number of IMU packets in a batch report

Definition at line 48 of file IMU.cpp.

Member Data Documentation

◆ NAME

constexpr static const char* dai::node::IMU::NAME = "IMU"

staticconstexpr

Definition at line 16 of file IMU.hpp.

◆ out

Output dai::node::IMU::out {*this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}}

Outputs IMUData message that carries IMU packets.

Definition at line 27 of file IMU.hpp.

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

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members