Convenient class to represents a concrete IMU. More...

#include <btkIMUTypes.h>

Inheritance diagram for btk::IMUType< t >:

Static Public Member Functions
static IMU::Pointer	New (const std::string &label="IMU", const std::string &desc="", bool init=true)

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

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

Protected Member Functions
	IMUType (const std::string &label, const std::string &desc, bool init)

Protected Member Functions inherited from btk::IMU
	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 ()

Additional Inherited Members
Public Types inherited from btk::IMU
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 inherited from btk::IMU
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

Protected Attributes inherited from btk::IMU
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

template<int t>
class btk::IMUType< t >

Convenient class to represents a concrete IMU.

Template Parameters

t IMU type

This class helps to create a configured IMU::Pointer object with required number of channels, calibration matrix, etc. The list of supported IMUs is presented below.

Some IMU types are already provided:

btk::IMUType1: IMU Type-1 (6D: 3 accelerometers and 3 gyroscopes)
btk::IMUType2: IMU Type-2 (Type 1 + calibration matrix to align accelerometers and gyroscopes together)

Warning: The use of the New() static method will return a IMU::Pointer object.

Constructor & Destructor Documentation

template<int t>

btk::IMUType< t >::IMUType	(	const std::string &	label,
		const std::string &	desc,
		bool	init
	)

protected

Constructor.

Member Function Documentation

template<int t>

Pointer btk::IMUType< t >::New	(	const std::string &	label = `"IMU"`,
		const std::string &	desc = `""`,
		bool	init = `true`
	)

inlinestatic

Creates a smart pointer associated with a IMUType object.

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<int t> class btk::IMUType< t >

Constructor & Destructor Documentation

Member Function Documentation

template<int t>
class btk::IMUType< t >