Boardcore::RotatedIMU Class Reference

A software IMU sensor that allows applying transformations to the data after sampling via a callback. Defaults to identity transformations. More...

#include <RotatedIMU.h>

Inheritance diagram for Boardcore::RotatedIMU:

Collaboration diagram for Boardcore::RotatedIMU:

Public Types
using	SampleIMUFunction = std::function<IMUData()>
Public Types inherited from Boardcore::Sensor< IMUData >
using	DataType

Public Member Functions
	RotatedIMU (SampleIMUFunction sampleFunction)
	Construct a new Rotated IMU object.
bool	init () override
	Initialize the sensor.
bool	selfTest () override
	Check if the sensor is working.
void	addAccTransformation (const Eigen::Matrix3f &t)
	Multiplies the current accelerometer transformation.
void	addGyroTransformation (const Eigen::Matrix3f &t)
	Multiplies the current gyroscope transformation.
void	addMagTransformation (const Eigen::Matrix3f &t)
	Multiplies the current magnetometer transformation.
void	resetTransformations ()
	Resets all the transformations to the original (Identity) ones.
Public Member Functions inherited from Boardcore::Sensor< IMUData >
	Sensor ()
	Sensor (Sensor &&other)
virtual	~Sensor ()
void	sample () override
	Sample the sensor.
virtual IMUData	getLastSample ()
Public Member Functions inherited from Boardcore::AbstractSensor
virtual	~AbstractSensor ()
SensorErrors	getLastError ()
	Get last error for debugging purposes. Avoid silent fails.

Static Public Member Functions
static Eigen::Matrix3f	rotateAroundX (float angle)
	Creates a rotation matrix around the X axis.
static Eigen::Matrix3f	rotateAroundY (float angle)
	Creates a rotation matrix around the Y axis.
static Eigen::Matrix3f	rotateAroundZ (float angle)
	Creates a rotation matrix around the Z axis.

Protected Member Functions
IMUData	sampleImpl () override
	Read a data sample from the sensor. In case of errors, the method should return the last available correct sample.

Additional Inherited Members
Protected Attributes inherited from Boardcore::Sensor< IMUData >
DataType	lastSample
miosix::FastMutex	mutex
Protected Attributes inherited from Boardcore::AbstractSensor
SensorErrors	lastError = SensorErrors::NO_ERRORS

Detailed Description

A software IMU sensor that allows applying transformations to the data after sampling via a callback. Defaults to identity transformations.

Definition at line 39 of file RotatedIMU.h.

Member Typedef Documentation

SampleIMUFunction

using Boardcore::RotatedIMU::SampleIMUFunction = std::function<IMUData()>

Definition at line 42 of file RotatedIMU.h.

Constructor & Destructor Documentation

RotatedIMU()

Boardcore::RotatedIMU::RotatedIMU ( SampleIMUFunction sampleFunction )

explicit

Construct a new Rotated IMU object.

Parameters

sampleFunction

Callback to retrieve accelerometer, magnetometer and gyroscope data

Definition at line 30 of file RotatedIMU.cpp.

Member Function Documentation

addAccTransformation()

void Boardcore::RotatedIMU::addAccTransformation

(

const Eigen::Matrix3f &

t

)

Multiplies the current accelerometer transformation.

Parameters

transformation

Transformation matrix to be multiplied to the current one

Definition at line 35 of file RotatedIMU.cpp.

addGyroTransformation()

void Boardcore::RotatedIMU::addGyroTransformation

(

const Eigen::Matrix3f &

t

)

Multiplies the current gyroscope transformation.

Parameters

transformation

Transformation matrix to be multiplied to the current one

Definition at line 36 of file RotatedIMU.cpp.

addMagTransformation()

void Boardcore::RotatedIMU::addMagTransformation

(

const Eigen::Matrix3f &

t

)

Multiplies the current magnetometer transformation.

Parameters

transformation

Transformation matrix to be multiplied to the current one

Definition at line 37 of file RotatedIMU.cpp.

init()

bool Boardcore::RotatedIMU::init ( )

inlineoverridevirtual

Initialize the sensor.

Returns

boolean value indicating whether the operation succeded or not

Implements Boardcore::AbstractSensor.

Definition at line 52 of file RotatedIMU.h.

resetTransformations()

void Boardcore::RotatedIMU::resetTransformations

(

)

Resets all the transformations to the original (Identity) ones.

Definition at line 39 of file RotatedIMU.cpp.

rotateAroundX()

Matrix3f Boardcore::RotatedIMU::rotateAroundX ( float angle )

static

Creates a rotation matrix around the X axis.

Parameters

angle

Angle in degrees

Definition at line 46 of file RotatedIMU.cpp.

rotateAroundY()

Matrix3f Boardcore::RotatedIMU::rotateAroundY ( float angle )

static

Creates a rotation matrix around the Y axis.

Parameters

angle

Angle in degrees

Definition at line 60 of file RotatedIMU.cpp.

rotateAroundZ()

Matrix3f Boardcore::RotatedIMU::rotateAroundZ ( float angle )

static

Creates a rotation matrix around the Z axis.

Parameters

angle

Angle in degrees

Definition at line 74 of file RotatedIMU.cpp.

sampleImpl()

IMUData Boardcore::RotatedIMU::sampleImpl ( )

overrideprotectedvirtual

Read a data sample from the sensor. In case of errors, the method should return the last available correct sample.

Returns

sensor data sample

Implements Boardcore::Sensor< IMUData >.

Definition at line 88 of file RotatedIMU.cpp.

selfTest()

bool Boardcore::RotatedIMU::selfTest ( )

inlineoverridevirtual

Check if the sensor is working.

Returns

boolean indicating whether the sensor is correctly working or not

Implements Boardcore::AbstractSensor.

Definition at line 53 of file RotatedIMU.h.

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

• src/shared/sensors/RotatedIMU/RotatedIMU.h
• src/shared/sensors/RotatedIMU/RotatedIMU.cpp