btk::IMUsExtractor Class Reference

Extracts inertial measurement units (IMUs) from a btk::Acquisition object. More...

#include <btkIMUsExtractor.h>

Inheritance diagram for btk::IMUsExtractor:

Public Types
typedef btkSharedPtr< const IMUsExtractor >	ConstPointer
typedef btkSharedPtr < IMUsExtractor >	Pointer
Public Types inherited from btk::ProcessObject
typedef btkSharedPtr< const ProcessObject >	ConstPointer
typedef btkSharedPtr < ProcessObject >	Pointer
Public Types inherited from btk::Object
typedef btkSharedPtr< const Object >	ConstPointer
typedef btkSharedPtr< Object >	Pointer

Public Member Functions
Acquisition::Pointer	GetInput ()
Acquisition::Pointer	GetInput (int idx)
IMUCollection::Pointer	GetOutput ()
void	SetInput (Acquisition::Pointer input)
void	SetInput (int idx, Acquisition::Pointer input)
Public Member Functions inherited from btk::ProcessObject
int	GetInputNumber () const
int	GetOutputNumber () const
int	GetValidInputNumber () const
void	ResetState ()
void	Update ()
Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
virtual void	GenerateData ()
IMUCollection::Pointer	GetOutput (int idx)
	IMUsExtractor ()
virtual DataObject::Pointer	MakeOutput (int idx)
Protected Member Functions inherited from btk::ProcessObject
int	GetInputIndex (DataObject::Pointer input)
DataObject::Pointer	GetNthInput (int idx)
DataObject::ConstPointer	GetNthInput (int idx) const
DataObject::Pointer	GetNthOutput (int idx)
DataObject::ConstPointer	GetNthOutput (int idx) const
int	GetOutputIndex (DataObject::Pointer output)
bool	IsModified () const
void	Modified ()
	ProcessObject ()
void	SetInputNumber (int num)
virtual void	SetNthInput (int idx, DataObject::Pointer input)
virtual void	SetNthOutput (int idx, DataObject::Pointer output)
void	SetOutputNumber (int num)
virtual	~ProcessObject ()
Protected Member Functions inherited from btk::Object
	Object ()
	Object (const Object &toCopy)
virtual	~Object ()

Additional Inherited Members
Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Extracts inertial measurement units (IMUs) from a btk::Acquisition object.

Based on the content of the metadata IMU and the analog channels stored in the given acquisition, this filter creates a collection of btk::IMU returned in the output.

The metadata IMU must be structured as the following:

• IMU:USED: single integer storing the number of IMUs ;
• IMU:TYPE: 1D array of integer containing the type of IMU contained in the acquisition (see below for the supported types) ;
• IMU:CHANNEL: 2D array of integer containing 1-based indices of the analog channels used ;
• IMU:LABELS: 1D array of strings containing the force plates' label ;
• IMU:DESCRIPTIONS: 1D array of strings containing the force plates' description ;
• IMU:CAL_MATRIX (optional): 2D array (max_num_channels x max_num_channels, num_imus) of float to construct matrices used to correct alignment between sensors
• IMU:EXTRA (optional): 1D array of integer containing the number of extra channels for each IMU (e.g. ECG, altimeter, etc) ;

The supported types are the following:

• Type 1: 6D IMU with a 3D accelerometer and 3D gyroscope.
• Type 2: 6D IMU + a calibration matrix to align sensors together.

Note: In case your inertial sensor contain only a subset of the proposed type (for example 1D accelerometer + 2D gyroscope), you don't need to add 3 channels with 0 values. Only the metadata IMU:CHANNEL and IMU:CAL_MATRIX must be adapted in consequence. For example the value of IMU:CHANNEL could be 0 0 1 2 3 0. The metadata IMU:CAL_MATRIX will be then a matrix with 3x3 value (e.g. [1 0 0 0 1 0 0 0 1]).

Note

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

Member Typedef Documentation

btk::IMUsExtractor::ConstPointer

Smart pointer associated with a const IMUsExtractor object.

btk::IMUsExtractor::Pointer

Smart pointer associated with a IMUsExtractor object.

Constructor & Destructor Documentation

btk::IMUsExtractor::IMUsExtractor ( )

protected

Constructor. Sets the number of inputs and outputs to 1.

Member Function Documentation

void btk::IMUsExtractor::GenerateData ( )

protectedvirtual

Generates the outputs' data.

Implements btk::ProcessObject.

Acquisition::Pointer btk::IMUsExtractor::GetInput ( )

inline

Gets the input registered with this process.

Acquisition::Pointer btk::IMUsExtractor::GetInput ( int  idx )

inline

Gets the input registered with this process at the index idx.

PointCollection::Pointer btk::IMUsExtractor::GetOutput ( )

inline

Gets the output created with this process.

PointCollection::Pointer btk::IMUsExtractor::GetOutput ( int  idx )

inlineprotected

Gets the output created with this process at the index idx.

DataObject::Pointer btk::IMUsExtractor::MakeOutput ( int  idx )

protectedvirtual

Creates a PointCollection:Pointer object and return it as a DataObject::Pointer.

Implements btk::ProcessObject.

static Pointer btk::IMUsExtractor::New ( )

inlinestatic

Creates a smart pointer associated with a IMUsExtractor object.

void btk::IMUsExtractor::SetInput ( Acquisition::Pointer  input )

inline

Sets the input required with this process.

void btk::IMUsExtractor::SetInput ( int  idx, Acquisition::Pointer  input  )

inline

Sets the input required with this process at the index idx.