btk::IMU Class Reference

Container of analog channels representing an inertial measurement unit (IMU). More...

#include <btkIMU.h>

Inheritance diagram for btk::IMU:

Public Types
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	CalMatrix
typedef btkSharedPtr< const IMU >	ConstPointer
typedef btkNullPtr< IMU >	NullPointer
typedef btkSharedPtr< IMU >	Pointer
typedef Eigen::Matrix< double, 3, 3 >	Rotation
Public Types inherited from btk::DataObjectLabeled
typedef btkSharedPtr< const DataObjectLabeled >	ConstPointer
typedef btkSharedPtr < DataObjectLabeled >	Pointer
Public Types inherited from btk::DataObject
typedef btkSharedPtr< const DataObject >	ConstPointer
typedef btkNullPtr< DataObject >	NullPointer
typedef btkSharedPtr< DataObject >	Pointer
Public Types inherited from btk::Object
typedef btkSharedPtr< const Object >	ConstPointer
typedef btkSharedPtr< Object >	Pointer

Public Member Functions
Pointer	Clone () const
Analog::Pointer	GetAccelerometerX ()
Analog::Pointer	GetAccelerometerY ()
Analog::Pointer	GetAccelerometerZ ()
CalMatrix &	GetCalMatrix ()
const CalMatrix &	GetCalMatrix () const
Analog::Pointer	GetChannel (int id)
Analog::ConstPointer	GetChannel (int id) const
Analog::Pointer	GetChannel (const std::string &label)
Analog::ConstPointer	GetChannel (const std::string &label) const
int	GetChannelNumber () const
AnalogCollection::Pointer	GetChannels ()
int	GetFrameNumber () const
double	GetFrequency () const
Analog::Pointer	GetGyroscopeX ()
Analog::Pointer	GetGyroscopeY ()
Analog::Pointer	GetGyroscopeZ ()
int	GetType () const
void	Rotate (const Rotation &R)
void	SetCalMatrix (const CalMatrix &cal)
void	SetChannel (int id, Analog::Pointer channel)
void	SetChannels (Analog::Pointer accX, Analog::Pointer accY, Analog::Pointer accZ, Analog::Pointer gyroX, Analog::Pointer gyroY, Analog::Pointer gyroZ)
void	SetFrameNumber (int fn)
void	SetFrequency (double f)
virtual	~IMU ()
Public Member Functions inherited from btk::DataObjectLabeled
const std::string &	GetDescription () const
const std::string &	GetLabel () const
virtual void	SetDescription (const std::string &description)
virtual void	SetLabel (const std::string &label)
Public Member Functions inherited from btk::DataObject
DataObject *	GetParent () const
bool	HasParent () const
void	Modified ()
void	SetParent (DataObject *parent)
void	Update ()
Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static NullPointer	Null ()
Static Public Member Functions inherited from btk::DataObject
static NullPointer	Null ()

Protected Member Functions
	IMU (const std::string &label, const std::string &desc, bool init)
	IMU (const IMU &toCopy)
Protected Member Functions inherited from btk::DataObjectLabeled
	DataObjectLabeled (const std::string &label="", const std::string &description="")
	DataObjectLabeled (const DataObjectLabeled &toCopy)
Protected Member Functions inherited from btk::DataObject
	DataObject ()
	DataObject (const DataObject &toCopy)
virtual	~DataObject ()
Protected Member Functions inherited from btk::Object
	Object ()
	Object (const Object &toCopy)
virtual	~Object ()

Protected Attributes
int	m_Type
Protected Attributes inherited from btk::DataObjectLabeled
std::string	m_Description
std::string	m_Label
Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Container of analog channels representing an inertial measurement unit (IMU).

This class proposes to store any number of analog channels but the 6 first channels could be used for 3 accelerometers and 3 gyroscopes as some convenient methods are proposed in this way (see SetChannels(), GetAccelerometerX(), GetAccelerometerY(), GetAccelerometerZ(), GetGyroscopeX(), GetGyroscopeY(), GetGyroscopeZ()).

The storage of the channel is done using an ID and not an array index. You can then use the same ID for some kind of sensor even if other are missing (i.e. IMU with accelerometers disabled or configured with 1 acc, and 2 gyros., etc.).

Note: This class is still experimental and could be modified in the next release.

Member Typedef Documentation

btk::IMU::CalMatrix

Type which represents a possible calibration matrix used with the IMU to aligne sensors axes together (gyrosocope axes and accelerometer axes).

btk::IMU::ConstPointer

Smart pointer associated with a const IMU object.

btk::IMU::NullPointer

Special null pointer associated with a IMU object. This type should be used only internally to test the nullity of a smart pointer. See the static method Null() instead.

btk::IMU::Pointer

Smart pointer associated with a IMU object.

btk::IMU::Rotation

Type definition for Eigen 3x3 rotation matrix (of double).

Constructor & Destructor Documentation

btk::IMU::~IMU ( )

inlinevirtual

Empty destructor.

btk::IMU::IMU ( const std::string &  label, const std::string &  desc, bool  init  )

protected

Constructor

btk::IMU::IMU ( const IMU &  toCopy )

protected

Constructor of copy

Member Function Documentation

Pointer btk::IMU::Clone ( ) const

inline

Deep copy of the current object.

Analog::Pointer btk::IMU::GetAccelerometerX ( )

inline

Convenient method to return the analog channel with the ID 0 (which should correspond to an accelerometer measuring data on the X axis of the IMU).

Analog::Pointer btk::IMU::GetAccelerometerY ( )

inline

Convenient method to return the analog channel with the ID 1 (which should correspond to an accelerometer measuring data on the Y axis of the IMU).

Analog::Pointer btk::IMU::GetAccelerometerZ ( )

inline

Convenient method to return the analog channel with the ID 2 (which should correspond to an accelerometer measuring data on the Z axis of the IMU).

CalMatrix & btk::IMU::GetCalMatrix ( )

inline

Returns calibration marix.

Warning

If you modify the object's content with this function, don't forget to call the Modified() method.

const CalMatrix & btk::IMU::GetCalMatrix ( ) const

inline

Returns the calibration matrix.

Analog::Pointer btk::IMU::GetChannel

(

int

id

)

Returns the analog channel with the given ID. If there is no analog channel with the given ID, then an exception is thrown.

Analog::ConstPointer btk::IMU::GetChannel

(

int

id

)

const

Returns the analog channel with the given ID. If there is no analog channel with the given ID, then an exception is thrown.

Analog::Pointer btk::IMU::GetChannel

(

const std::string &

label

)

Returns the analog channel with the given label. If there is no analog channel with the given label, then an exception is thrown.

Analog::ConstPointer btk::IMU::GetChannel

(

const std::string &

label

)

const

Returns the analog channel with the given label. If there is no analog channel with the given label, then an exception is thrown.

int btk::IMU::GetChannelNumber ( ) const

inline

Returns the number of channels used by the IMU.

AnalogCollection::Pointer btk::IMU::GetChannels

(

)

Returns the analog channels of the IMU in a collection. The analog channels are pushed in the collection by using their ID.

int btk::IMU::GetFrameNumber ( ) const

inline

Returns the number of frames set in this IMU.

double btk::IMU::GetFrequency ( ) const

inline

Returns the frequency set to the IMU. (by default it is 0 Hz).

Analog::Pointer btk::IMU::GetGyroscopeX ( )

inline

Convenient method to return the analog channel with the ID 3 (which should correspond to a gyroscope measuring data on the X axis of the IMU).

Analog::Pointer btk::IMU::GetGyroscopeY ( )

inline

Convenient method to return the analog channel with the ID 4 (which should correspond to a gyroscope measuring data on the Y axis of the IMU).

Analog::Pointer btk::IMU::GetGyroscopeZ ( )

inline

Convenient method to return the analog channel with the ID 5 (which should correspond to a gyroscope measuring data on the Z axis of the IMU).

int btk::IMU::GetType ( ) const

inline

Returns the type of the IMU.

static NullPointer btk::IMU::Null ( )

inlinestatic

Static function to return a null pointer.

Note

This static method should be used only to test if a shared ponter is null or not. It is advised to call the method without parenthesis as special (in)equality operator are implemented to use a function pointer. See the description of the class NullPtr for an example.

void btk::IMU::Rotate

(

const Rotation &

R

)

Convenient method to rotate the analog channels with the IDs 0-5. This method handles the case where some of these analog channels are missing.

void btk::IMU::SetCalMatrix

(

const CalMatrix &

cal

)

Sets the calibration matrix. Assigning a calibration matrix won't change sensors' values. This is only an informative member to know what is the orientation between the sensors. However the filter btk::IMUsExtractor can adapt sensors' values to have aligned measurements.

void btk::IMU::SetChannel	(	int	id,
		Analog::Pointer	channel
	)

Sets an analog channel to the given ID. If an analog channel is already set to this ID, then it is replaced.

Warning

: This function assumes that the number of frames corresponds to the number of frames set in the IMU. You can set afterward the number of frames by using the method SetFrameNumber().

void btk::IMU::SetChannels	(	Analog::Pointer	accX,
		Analog::Pointer	accY,
		Analog::Pointer	accZ,
		Analog::Pointer	gyroX,
		Analog::Pointer	gyroY,
		Analog::Pointer	gyroZ
	)

Sets the 6 first channels of the IMUs with the analog channels accX, accY, accZ, gyroX, gyroY, gyroZ.

Warning

: This function assumes that the number of frames corresponds to the number of frames set in the IMU. You can set afterward the number of frames by using the method SetFrameNumber().

void btk::IMU::SetFrameNumber

(

int

fn

)

Set the number of frames for the IMU and modify also the number of frames for the channels.

void btk::IMU::SetFrequency

(

double

f

)

Sets the acquisition sample rate associated to the IMU.

Member Data Documentation

btk::IMU::m_Type

protected

Type of the IMU. Used to determine necessary data for a particular IMU sensor.