Fawkes API
Fawkes Development Version
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IMUInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
char * | frame () const |
Get frame value. More... | |
void | set_frame (const char *new_frame) |
Set frame value. More... | |
size_t | maxlenof_frame () const |
Get maximum length of frame value. More... | |
float * | orientation () const |
Get orientation value. More... | |
float | orientation (unsigned int index) const |
Get orientation value at given index. More... | |
void | set_orientation (unsigned int index, const float new_orientation) |
Set orientation value at given index. More... | |
void | set_orientation (const float *new_orientation) |
Set orientation value. More... | |
size_t | maxlenof_orientation () const |
Get maximum length of orientation value. More... | |
double * | orientation_covariance () const |
Get orientation_covariance value. More... | |
double | orientation_covariance (unsigned int index) const |
Get orientation_covariance value at given index. More... | |
void | set_orientation_covariance (unsigned int index, const double new_orientation_covariance) |
Set orientation_covariance value at given index. More... | |
void | set_orientation_covariance (const double *new_orientation_covariance) |
Set orientation_covariance value. More... | |
size_t | maxlenof_orientation_covariance () const |
Get maximum length of orientation_covariance value. More... | |
float * | angular_velocity () const |
Get angular_velocity value. More... | |
float | angular_velocity (unsigned int index) const |
Get angular_velocity value at given index. More... | |
void | set_angular_velocity (unsigned int index, const float new_angular_velocity) |
Set angular_velocity value at given index. More... | |
void | set_angular_velocity (const float *new_angular_velocity) |
Set angular_velocity value. More... | |
size_t | maxlenof_angular_velocity () const |
Get maximum length of angular_velocity value. More... | |
double * | angular_velocity_covariance () const |
Get angular_velocity_covariance value. More... | |
double | angular_velocity_covariance (unsigned int index) const |
Get angular_velocity_covariance value at given index. More... | |
void | set_angular_velocity_covariance (unsigned int index, const double new_angular_velocity_covariance) |
Set angular_velocity_covariance value at given index. More... | |
void | set_angular_velocity_covariance (const double *new_angular_velocity_covariance) |
Set angular_velocity_covariance value. More... | |
size_t | maxlenof_angular_velocity_covariance () const |
Get maximum length of angular_velocity_covariance value. More... | |
float * | linear_acceleration () const |
Get linear_acceleration value. More... | |
float | linear_acceleration (unsigned int index) const |
Get linear_acceleration value at given index. More... | |
void | set_linear_acceleration (unsigned int index, const float new_linear_acceleration) |
Set linear_acceleration value at given index. More... | |
void | set_linear_acceleration (const float *new_linear_acceleration) |
Set linear_acceleration value. More... | |
size_t | maxlenof_linear_acceleration () const |
Get maximum length of linear_acceleration value. More... | |
double * | linear_acceleration_covariance () const |
Get linear_acceleration_covariance value. More... | |
double | linear_acceleration_covariance (unsigned int index) const |
Get linear_acceleration_covariance value at given index. More... | |
void | set_linear_acceleration_covariance (unsigned int index, const double new_linear_acceleration_covariance) |
Set linear_acceleration_covariance value at given index. More... | |
void | set_linear_acceleration_covariance (const double *new_linear_acceleration_covariance) |
Set linear_acceleration_covariance value. More... | |
size_t | maxlenof_linear_acceleration_covariance () const |
Get maximum length of linear_acceleration_covariance value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
IMUInterface Fawkes BlackBoard Interface.
This interface provides access to data of inertial measurement units. It is based on the sensor_msgs/Imu data type for compatibility.
Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec.
If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal). A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source.
If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation # estimate), please set element 0 of the associated covariance matrix to -1. If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.
Definition at line 33 of file IMUInterface.h.
float * fawkes::IMUInterface::angular_velocity | ( | ) | const |
Get angular_velocity value.
Angular velocities ordered as (x, y, z).
Definition at line 267 of file IMUInterface.cpp.
float fawkes::IMUInterface::angular_velocity | ( | unsigned int | index | ) | const |
Get angular_velocity value at given index.
Angular velocities ordered as (x, y, z).
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 281 of file IMUInterface.cpp.
double * fawkes::IMUInterface::angular_velocity_covariance | ( | ) | const |
Get angular_velocity_covariance value.
Covariance of angular velocity, row major about x, y, z axes.
Definition at line 335 of file IMUInterface.cpp.
double fawkes::IMUInterface::angular_velocity_covariance | ( | unsigned int | index | ) | const |
Get angular_velocity_covariance value at given index.
Covariance of angular velocity, row major about x, y, z axes.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 349 of file IMUInterface.cpp.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 545 of file IMUInterface.cpp.
References fawkes::Interface::type().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 534 of file IMUInterface.cpp.
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 556 of file IMUInterface.cpp.
char * fawkes::IMUInterface::frame | ( | ) | const |
Get frame value.
Coordinate frame in which the data is presented.
Definition at line 96 of file IMUInterface.cpp.
float * fawkes::IMUInterface::linear_acceleration | ( | ) | const |
Get linear_acceleration value.
Linear acceleration ordered as (x, y, z).
Definition at line 403 of file IMUInterface.cpp.
float fawkes::IMUInterface::linear_acceleration | ( | unsigned int | index | ) | const |
Get linear_acceleration value at given index.
Linear acceleration ordered as (x, y, z).
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 417 of file IMUInterface.cpp.
double * fawkes::IMUInterface::linear_acceleration_covariance | ( | ) | const |
Get linear_acceleration_covariance value.
Covariance of linear acceleration, row major about x, y, z axes.
Definition at line 471 of file IMUInterface.cpp.
double fawkes::IMUInterface::linear_acceleration_covariance | ( | unsigned int | index | ) | const |
Get linear_acceleration_covariance value at given index.
Covariance of linear acceleration, row major about x, y, z axes.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 485 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_angular_velocity | ( | ) | const |
Get maximum length of angular_velocity value.
Definition at line 294 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_angular_velocity_covariance | ( | ) | const |
Get maximum length of angular_velocity_covariance value.
Definition at line 362 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_frame | ( | ) | const |
Get maximum length of frame value.
Definition at line 106 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_linear_acceleration | ( | ) | const |
Get maximum length of linear_acceleration value.
Definition at line 430 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_linear_acceleration_covariance | ( | ) | const |
Get maximum length of linear_acceleration_covariance value.
Definition at line 498 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_orientation | ( | ) | const |
Get maximum length of orientation value.
Definition at line 158 of file IMUInterface.cpp.
size_t fawkes::IMUInterface::maxlenof_orientation_covariance | ( | ) | const |
Get maximum length of orientation_covariance value.
Definition at line 226 of file IMUInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 567 of file IMUInterface.cpp.
float * fawkes::IMUInterface::orientation | ( | ) | const |
Get orientation value.
Rotation quaternion ordered as (x, y, z, w).
Definition at line 131 of file IMUInterface.cpp.
Referenced by RobotinoActThread::loop().
float fawkes::IMUInterface::orientation | ( | unsigned int | index | ) | const |
Get orientation value at given index.
Rotation quaternion ordered as (x, y, z, w).
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 145 of file IMUInterface.cpp.
double * fawkes::IMUInterface::orientation_covariance | ( | ) | const |
Get orientation_covariance value.
Covariance of orientation, row major about x, y, z axes.
Definition at line 199 of file IMUInterface.cpp.
double fawkes::IMUInterface::orientation_covariance | ( | unsigned int | index | ) | const |
Get orientation_covariance value at given index.
Covariance of orientation, row major about x, y, z axes.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 213 of file IMUInterface.cpp.
void fawkes::IMUInterface::set_angular_velocity | ( | unsigned int | index, |
const float | new_angular_velocity | ||
) |
Set angular_velocity value at given index.
Angular velocities ordered as (x, y, z).
new_angular_velocity | new angular_velocity value |
index | index for of the value |
Definition at line 320 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), IMUAcquisitionThread::loop(), RobotinoSensorThread::loop(), and RobotinoSimThread::loop().
void fawkes::IMUInterface::set_angular_velocity | ( | const float * | new_angular_velocity | ) |
Set angular_velocity value.
Angular velocities ordered as (x, y, z).
new_angular_velocity | new angular_velocity value |
Definition at line 306 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::IMUInterface::set_angular_velocity_covariance | ( | unsigned int | index, |
const double | new_angular_velocity_covariance | ||
) |
Set angular_velocity_covariance value at given index.
Covariance of angular velocity, row major about x, y, z axes.
new_angular_velocity_covariance | new angular_velocity_covariance value |
index | index for of the value |
Definition at line 388 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), IMUAcquisitionThread::loop(), and RobotinoSensorThread::loop().
void fawkes::IMUInterface::set_angular_velocity_covariance | ( | const double * | new_angular_velocity_covariance | ) |
Set angular_velocity_covariance value.
Covariance of angular velocity, row major about x, y, z axes.
new_angular_velocity_covariance | new angular_velocity_covariance value |
Definition at line 374 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::IMUInterface::set_frame | ( | const char * | new_frame | ) |
Set frame value.
Coordinate frame in which the data is presented.
new_frame | new frame value |
Definition at line 118 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::init(), and IMUAcquisitionThread::init().
void fawkes::IMUInterface::set_linear_acceleration | ( | unsigned int | index, |
const float | new_linear_acceleration | ||
) |
Set linear_acceleration value at given index.
Linear acceleration ordered as (x, y, z).
new_linear_acceleration | new linear_acceleration value |
index | index for of the value |
Definition at line 456 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), IMUAcquisitionThread::loop(), and RobotinoSensorThread::loop().
void fawkes::IMUInterface::set_linear_acceleration | ( | const float * | new_linear_acceleration | ) |
Set linear_acceleration value.
Linear acceleration ordered as (x, y, z).
new_linear_acceleration | new linear_acceleration value |
Definition at line 442 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::IMUInterface::set_linear_acceleration_covariance | ( | unsigned int | index, |
const double | new_linear_acceleration_covariance | ||
) |
Set linear_acceleration_covariance value at given index.
Covariance of linear acceleration, row major about x, y, z axes.
new_linear_acceleration_covariance | new linear_acceleration_covariance value |
index | index for of the value |
Definition at line 524 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), and IMUAcquisitionThread::loop().
void fawkes::IMUInterface::set_linear_acceleration_covariance | ( | const double * | new_linear_acceleration_covariance | ) |
Set linear_acceleration_covariance value.
Covariance of linear acceleration, row major about x, y, z axes.
new_linear_acceleration_covariance | new linear_acceleration_covariance value |
Definition at line 510 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::IMUInterface::set_orientation | ( | unsigned int | index, |
const float | new_orientation | ||
) |
Set orientation value at given index.
Rotation quaternion ordered as (x, y, z, w).
new_orientation | new orientation value |
index | index for of the value |
Definition at line 184 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), IMUAcquisitionThread::loop(), RobotinoSensorThread::loop(), and RobotinoSimThread::loop().
void fawkes::IMUInterface::set_orientation | ( | const float * | new_orientation | ) |
Set orientation value.
Rotation quaternion ordered as (x, y, z, w).
new_orientation | new orientation value |
Definition at line 170 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::IMUInterface::set_orientation_covariance | ( | unsigned int | index, |
const double | new_orientation_covariance | ||
) |
Set orientation_covariance value at given index.
Covariance of orientation, row major about x, y, z axes.
new_orientation_covariance | new orientation_covariance value |
index | index for of the value |
Definition at line 252 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by IMUSensorThread::loop(), and IMUAcquisitionThread::loop().
void fawkes::IMUInterface::set_orientation_covariance | ( | const double * | new_orientation_covariance | ) |
Set orientation_covariance value.
Covariance of orientation, row major about x, y, z axes.
new_orientation_covariance | new orientation_covariance value |
Definition at line 238 of file IMUInterface.cpp.
References fawkes::Interface::data_changed.