mrpt::poses::CPose3D m_sensorPose
bool searchPortAndConnect()
Search the port where the sensor is located and connect to it.
A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.
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...
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
mrpt::system::TTimeStamp m_timeStartTT
void initialize()
Turns on the xSens device and configure it for getting orientation data.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
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...
virtual ~CIMUXSens()
Destructor.
int m_COMbauds
This serial port will be attempted to be opened automatically when this class is first used to reques...
unsigned int m_toutCounter
Timeout counter (for internal use only)
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