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10 #ifndef CIMUIntersense_H
11 #define CIMUIntersense_H
90 const std::string & iniSection );
void initialize()
Turns on the iSense device and configure it for getting orientation data.
mrpt::poses::CPose3D m_sensorPose
A class for interfacing Intersense Inertial Measuring Units (IMUs).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
virtual ~CIMUIntersense()
Destructor.
uint32_t m_timeStartUI
Timestamp management.
CIMUIntersense()
Constructor.
unsigned int m_toutCounter
Timeout counter (for internal use only)
mrpt::system::TTimeStamp m_timeStartTT
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
void * m_handles_ptr
Opaque pointer to specifid iSense IMU structure.
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