Fawkes API  Fawkes Development Version
fawkes::IMUInterface Class Reference

IMUInterface Fawkes BlackBoard Interface. More...

#include <>>

Inheritance diagram for fawkes::IMUInterface:

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 Messagecreate_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...
 
- Public Member Functions inherited from fawkes::Interface
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 Timetimestamp () 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...
 
Messagemsgq_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

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 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...
 
- Protected Attributes inherited from fawkes::Interface
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_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

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.

Member Function Documentation

◆ angular_velocity() [1/2]

float * fawkes::IMUInterface::angular_velocity ( ) const

Get angular_velocity value.

Angular velocities ordered as (x, y, z).

Returns
angular_velocity value

Definition at line 267 of file IMUInterface.cpp.

◆ angular_velocity() [2/2]

float fawkes::IMUInterface::angular_velocity ( unsigned int  index) const

Get angular_velocity value at given index.

Angular velocities ordered as (x, y, z).

Parameters
indexindex of value
Returns
angular_velocity value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 281 of file IMUInterface.cpp.

◆ angular_velocity_covariance() [1/2]

double * fawkes::IMUInterface::angular_velocity_covariance ( ) const

Get angular_velocity_covariance value.

Covariance of angular velocity, row major about x, y, z axes.

Returns
angular_velocity_covariance value

Definition at line 335 of file IMUInterface.cpp.

◆ angular_velocity_covariance() [2/2]

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.

Parameters
indexindex of value
Returns
angular_velocity_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 349 of file IMUInterface.cpp.

◆ copy_values()

void fawkes::IMUInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 545 of file IMUInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::IMUInterface::create_message ( const char *  type) const
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.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 534 of file IMUInterface.cpp.

◆ enum_tostring()

const char * fawkes::IMUInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
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.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 556 of file IMUInterface.cpp.

◆ frame()

char * fawkes::IMUInterface::frame ( ) const

Get frame value.

Coordinate frame in which the data is presented.

Returns
frame value

Definition at line 96 of file IMUInterface.cpp.

◆ linear_acceleration() [1/2]

float * fawkes::IMUInterface::linear_acceleration ( ) const

Get linear_acceleration value.

Linear acceleration ordered as (x, y, z).

Returns
linear_acceleration value

Definition at line 403 of file IMUInterface.cpp.

◆ linear_acceleration() [2/2]

float fawkes::IMUInterface::linear_acceleration ( unsigned int  index) const

Get linear_acceleration value at given index.

Linear acceleration ordered as (x, y, z).

Parameters
indexindex of value
Returns
linear_acceleration value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 417 of file IMUInterface.cpp.

◆ linear_acceleration_covariance() [1/2]

double * fawkes::IMUInterface::linear_acceleration_covariance ( ) const

Get linear_acceleration_covariance value.

Covariance of linear acceleration, row major about x, y, z axes.

Returns
linear_acceleration_covariance value

Definition at line 471 of file IMUInterface.cpp.

◆ linear_acceleration_covariance() [2/2]

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.

Parameters
indexindex of value
Returns
linear_acceleration_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 485 of file IMUInterface.cpp.

◆ maxlenof_angular_velocity()

size_t fawkes::IMUInterface::maxlenof_angular_velocity ( ) const

Get maximum length of angular_velocity value.

Returns
length of angular_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 294 of file IMUInterface.cpp.

◆ maxlenof_angular_velocity_covariance()

size_t fawkes::IMUInterface::maxlenof_angular_velocity_covariance ( ) const

Get maximum length of angular_velocity_covariance value.

Returns
length of angular_velocity_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 362 of file IMUInterface.cpp.

◆ maxlenof_frame()

size_t fawkes::IMUInterface::maxlenof_frame ( ) const

Get maximum length of frame value.

Returns
length of frame value, can be length of the array or number of maximum number of characters for a string

Definition at line 106 of file IMUInterface.cpp.

◆ maxlenof_linear_acceleration()

size_t fawkes::IMUInterface::maxlenof_linear_acceleration ( ) const

Get maximum length of linear_acceleration value.

Returns
length of linear_acceleration value, can be length of the array or number of maximum number of characters for a string

Definition at line 430 of file IMUInterface.cpp.

◆ maxlenof_linear_acceleration_covariance()

size_t fawkes::IMUInterface::maxlenof_linear_acceleration_covariance ( ) const

Get maximum length of linear_acceleration_covariance value.

Returns
length of linear_acceleration_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 498 of file IMUInterface.cpp.

◆ maxlenof_orientation()

size_t fawkes::IMUInterface::maxlenof_orientation ( ) const

Get maximum length of orientation value.

Returns
length of orientation value, can be length of the array or number of maximum number of characters for a string

Definition at line 158 of file IMUInterface.cpp.

◆ maxlenof_orientation_covariance()

size_t fawkes::IMUInterface::maxlenof_orientation_covariance ( ) const

Get maximum length of orientation_covariance value.

Returns
length of orientation_covariance value, can be length of the array or number of maximum number of characters for a string

Definition at line 226 of file IMUInterface.cpp.

◆ message_valid()

bool fawkes::IMUInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 567 of file IMUInterface.cpp.

◆ orientation() [1/2]

float * fawkes::IMUInterface::orientation ( ) const

Get orientation value.

Rotation quaternion ordered as (x, y, z, w).

Returns
orientation value

Definition at line 131 of file IMUInterface.cpp.

Referenced by RobotinoActThread::loop().

◆ orientation() [2/2]

float fawkes::IMUInterface::orientation ( unsigned int  index) const

Get orientation value at given index.

Rotation quaternion ordered as (x, y, z, w).

Parameters
indexindex of value
Returns
orientation value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 145 of file IMUInterface.cpp.

◆ orientation_covariance() [1/2]

double * fawkes::IMUInterface::orientation_covariance ( ) const

Get orientation_covariance value.

Covariance of orientation, row major about x, y, z axes.

Returns
orientation_covariance value

Definition at line 199 of file IMUInterface.cpp.

◆ orientation_covariance() [2/2]

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.

Parameters
indexindex of value
Returns
orientation_covariance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 213 of file IMUInterface.cpp.

◆ set_angular_velocity() [1/2]

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).

Parameters
new_angular_velocitynew angular_velocity value
indexindex 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().

◆ set_angular_velocity() [2/2]

void fawkes::IMUInterface::set_angular_velocity ( const float *  new_angular_velocity)

Set angular_velocity value.

Angular velocities ordered as (x, y, z).

Parameters
new_angular_velocitynew angular_velocity value

Definition at line 306 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_angular_velocity_covariance() [1/2]

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.

Parameters
new_angular_velocity_covariancenew angular_velocity_covariance value
indexindex 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().

◆ set_angular_velocity_covariance() [2/2]

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.

Parameters
new_angular_velocity_covariancenew angular_velocity_covariance value

Definition at line 374 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_frame()

void fawkes::IMUInterface::set_frame ( const char *  new_frame)

Set frame value.

Coordinate frame in which the data is presented.

Parameters
new_framenew frame value

Definition at line 118 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by IMUSensorThread::init(), and IMUAcquisitionThread::init().

◆ set_linear_acceleration() [1/2]

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).

Parameters
new_linear_accelerationnew linear_acceleration value
indexindex 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().

◆ set_linear_acceleration() [2/2]

void fawkes::IMUInterface::set_linear_acceleration ( const float *  new_linear_acceleration)

Set linear_acceleration value.

Linear acceleration ordered as (x, y, z).

Parameters
new_linear_accelerationnew linear_acceleration value

Definition at line 442 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_linear_acceleration_covariance() [1/2]

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.

Parameters
new_linear_acceleration_covariancenew linear_acceleration_covariance value
indexindex for of the value

Definition at line 524 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by IMUSensorThread::loop(), and IMUAcquisitionThread::loop().

◆ set_linear_acceleration_covariance() [2/2]

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.

Parameters
new_linear_acceleration_covariancenew linear_acceleration_covariance value

Definition at line 510 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_orientation() [1/2]

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).

Parameters
new_orientationnew orientation value
indexindex 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().

◆ set_orientation() [2/2]

void fawkes::IMUInterface::set_orientation ( const float *  new_orientation)

Set orientation value.

Rotation quaternion ordered as (x, y, z, w).

Parameters
new_orientationnew orientation value

Definition at line 170 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_orientation_covariance() [1/2]

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.

Parameters
new_orientation_covariancenew orientation_covariance value
indexindex for of the value

Definition at line 252 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by IMUSensorThread::loop(), and IMUAcquisitionThread::loop().

◆ set_orientation_covariance() [2/2]

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.

Parameters
new_orientation_covariancenew orientation_covariance value

Definition at line 238 of file IMUInterface.cpp.

References fawkes::Interface::data_changed.


The documentation for this class was generated from the following files: