Detailed Description

A structure containing MT data + timestamp and formatting information.

Definition at line 24 of file cmtpacket.h.

#include <xSens_MT3/cmtpacket.h>

Classes
struct	PacketInfo
	Contains information about data in the packet and the format of that data. More...

Public Member Functions
	Packet (uint16_t items, bool xbus)

	Packet (const Packet &pack)

	~Packet ()

void	operator= (const Packet &pack)

bool	setDataFormat (const CmtDataFormat &format, const uint16_t index=0)

bool	setDataFormat (const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index=0)

CmtDataFormat	getDataFormat (const uint16_t index=0) const

void	setXbus (bool xbus, bool convert=false)

bool	getXbus (void) const

uint16_t	getDataSize (const uint16_t index=0) const
	Return the data size. More...

uint16_t	getFPValueSize (const uint16_t index) const
	Return the floating/fixed point value size. More...

CmtShortVector	getRawAcc (const uint16_t index=0) const
	Return the Raw Accelerometer component of a data item. More...

bool	containsRawAcc (const uint16_t index=0) const
	Check if data item contains Raw Accelerometer data. More...

bool	updateRawAcc (const CmtShortVector &vec, const uint16_t index=0)
	Add/update Raw Accelerometer data for the item. More...

CmtShortVector	getRawGyr (const uint16_t index=0) const
	Return the Raw Gyroscope component of a data item. More...

bool	containsRawGyr (const uint16_t index=0) const
	Check if data item contains Raw Gyroscope data. More...

bool	updateRawGyr (const CmtShortVector &vec, const uint16_t index=0)
	Add/update Raw Gyroscope data for the item. More...

CmtShortVector	getRawMag (const uint16_t index=0) const
	Return the Raw Magnetometer component of a data item. More...

bool	containsRawMag (const uint16_t index=0) const
	Check if data item contains Raw Magnetometer data. More...

bool	updateRawMag (const CmtShortVector &vec, const uint16_t index=0)
	Add/update Raw Magnetometer data for the item. More...

uint16_t	getRawTemp (const uint16_t index=0) const
	Return the Raw Temperature component of a data item. More...

bool	containsRawTemp (const uint16_t index=0) const
	Check if data item contains Raw Temperature data. More...

bool	updateRawTemp (uint16_t temp, const uint16_t index=0)
	Add/update Raw Temperature data for the item. More...

CmtRawData	getRawData (const uint16_t index=0) const
	Return the Raw Data component of a data item. More...

bool	containsRawData (const uint16_t index=0) const
	Check if data item contains Raw Data. More...

bool	updateRawData (const CmtRawData &data, const uint16_t index=0)
	Add/update Raw Data for the item. More...

CmtRawGpsData	getRawGpsData (const uint16_t index=0) const
	Return the Raw GpsPrint Data component of a data item. TODO: Implement in COM interface!!! More...

bool	containsRawGpsData (const uint16_t index=0) const
	Check if data item contains Raw GpsPrint Data. More...

bool	updateRawGpsData (const CmtRawGpsData &data, const uint16_t index=0)
	Add/update Raw GpsPrint Data for the item. More...

double	getTemp (const uint16_t index=0) const
	Return the Temperature component of a data item. More...

bool	containsTemp (const uint16_t index=0) const
	Check if data item contains Temperature data. More...

bool	updateTemp (const double &temp, const uint16_t index=0)
	Add/update Calibrated Accelerometer data for the item. More...

CmtVector	getCalAcc (const uint16_t index=0) const
	Return the Calibrated Accelerometer component of a data item. More...

bool	containsCalAcc (const uint16_t index=0) const
	Check if data item contains Calibrated Accelerometer data. More...

bool	updateCalAcc (const CmtVector &vec, const uint16_t index=0)
	Add/update Calibrated Accelerometer data for the item. More...

CmtVector	getCalGyr (const uint16_t index=0) const
	Return the Calibrated Gyroscope component of a data item. More...

bool	containsCalGyr (const uint16_t index=0) const
	Check if data item contains Calibrated Gyroscope data. More...

bool	updateCalGyr (const CmtVector &vec, const uint16_t index=0)
	Add/update Calibrated Gyroscope data for the item. More...

CmtVector	getCalMag (const uint16_t index=0) const
	Return the Calibrated Magnetometer component of a data item. More...

bool	containsCalMag (const uint16_t index=0) const
	Check if data item contains Calibrated Magnetometer data. More...

bool	updateCalMag (const CmtVector &vec, const uint16_t index=0)
	Add/update Calibrated Magnetometer data for the item. More...

CmtCalData	getCalData (const uint16_t index=0) const
	Return the Calibrated Data component of a data item. More...

bool	containsCalData (const uint16_t index=0) const
	Check if data item contains Calibrated Data. More...

bool	updateCalData (const CmtCalData &data, const uint16_t index=0)
	Add/update Calibrated Data for the item. More...

CmtQuat	getOriQuat (const uint16_t index=0) const
	Return the Orientation component of a data item as a Quaternion. More...

bool	containsOriQuat (const uint16_t index=0) const
	Check if data item contains Quaternion Orientation data. More...

bool	updateOriQuat (const CmtQuat &data, const uint16_t index=0)
	Add/update Quaternion Orientation data for the item. More...

CmtEuler	getOriEuler (const uint16_t index=0) const
	Return the Orientation component of a data item as Euler angles. More...

bool	containsOriEuler (const uint16_t index=0) const
	Check if data item contains Euler Orientation data. More...

bool	updateOriEuler (const CmtEuler &data, const uint16_t index=0)
	Add/update Euler Orientation data for the item. More...

CmtMatrix	getOriMatrix (const uint16_t index=0) const
	Return the Orientation component of a data item as an Orientation Matrix. More...

bool	containsOriMatrix (const uint16_t index=0) const
	Check if data item contains Matrix Orientation data. More...

bool	updateOriMatrix (const CmtMatrix &data, const uint16_t index=0)
	Add/update Matrix Orientation data for the item. More...

CmtAnalogInData	getAnalogIn1 (const uint16_t index=0) const
	Return the AnalogIn 1 component of a data item. More...

bool	containsAnalogIn1 (const uint16_t index=0) const
	Check if data item contains AnalogIn 1. More...

bool	updateAnalogIn1 (const CmtAnalogInData &data, const uint16_t index=0)
	Add/update AnalogIn 1 for the item. More...

CmtAnalogInData	getAnalogIn2 (const uint16_t index=0) const
	Return the AnalogIn 2 component of a data item. More...

bool	containsAnalogIn2 (const uint16_t index=0) const
	Check if data item contains AnalogIn 2. More...

bool	updateAnalogIn2 (const CmtAnalogInData &data, const uint16_t index=0)
	Add/update AnalogIn 2 for the item. More...

CmtVector	getPositionLLA (const uint16_t index=0) const
	Return the Position Lat Lon Alt component of a data item. More...

bool	containsPositionLLA (const uint16_t index=0) const
	Check if data item contains Position Lat Lon Alt. More...

bool	updatePositionLLA (const CmtVector &data, const uint16_t index=0)
	Add/update Position Lat Lon Alt for the item. More...

CmtVector	getVelocity (const uint16_t index=0) const
	Return the Velocity component of a data item. More...

bool	containsVelocity (const uint16_t index=0) const
	Check if data item contains Velocity. More...

bool	updateVelocity (const CmtVector &data, const uint16_t index=0)
	Add/update Velocity for the item. More...

uint8_t	getStatus (const uint16_t index=0) const
	Return the Status component of a data item. More...

bool	containsStatus (const uint16_t index=0) const
	Check if data item contains Velocity. More...

bool	updateStatus (const uint8_t data, const uint16_t index=0)
	Add/update Status information for the item. More...

uint16_t	getSampleCounter (const uint16_t index=0) const
	Return the Sample Counter component of the packet. More...

bool	containsSampleCounter (const uint16_t index=0) const
	Check if data item contains Sample Counter. More...

bool	updateSampleCounter (uint16_t counter, const uint16_t index=0)
	Add/update Sample Counter for all items. More...

CmtTimeStamp	getRtc (const uint16_t index=0) const
	Return the RTC of the packet. More...

CmtVector	getAccG (const uint16_t index=0) const
	Return the XKF-3 Acc-G component of the packet. More...

bool	containsAccG (const uint16_t index=0) const
	Check if data item contains XKF-3 Acc-G data. More...

bool	updateAccG (const CmtVector &g, const uint16_t index=0)
	Add/update XKF-3 Acc-G data for the item. More...

Public Attributes
uint16_t	m_itemCount
	The number of data items in the message. More...

Message	m_msg
	The message. More...

TimeStamp	m_rtc
	Sample time in ms, based on the sample counter. More...

TimeStamp	m_toa
	Time of arrival. More...

Protected Attributes
struct xsens::Packet::PacketInfo *	m_infoList

CmtDataFormat *	m_formatList
	A list of the formats of the data items. More...

bool	m_xm
	Indicates that xbus-formatting is used. More...

Constructor & Destructor Documentation

◆ Packet() [1/2]

xsens::Packet::Packet	(	uint16_t	items,
		bool	xbus
	)

Definition at line 48 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, m_rtc, m_toa, m_xm, and PACKETLOG.

◆ Packet() [2/2]

xsens::Packet::Packet ( const Packet & pack )

Definition at line 1289 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, and PACKETLOG.

◆ ~Packet()

xsens::Packet::~Packet ( )

Definition at line 61 of file cmtpacket.cpp.

References m_formatList, m_infoList, and PACKETLOG.

Member Function Documentation

◆ containsAccG()

bool xsens::Packet::containsAccG ( const uint16_t index = 0 ) const

Check if data item contains XKF-3 Acc-G data.

Definition at line 1262 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAccG().

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◆ containsAnalogIn1()

bool xsens::Packet::containsAnalogIn1 ( const uint16_t index = 0 ) const

Check if data item contains AnalogIn 1.

Definition at line 1049 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn1().

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◆ containsAnalogIn2()

bool xsens::Packet::containsAnalogIn2 ( const uint16_t index = 0 ) const

Check if data item contains AnalogIn 2.

Definition at line 1081 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn2().

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◆ containsCalAcc()

bool xsens::Packet::containsCalAcc ( const uint16_t index = 0 ) const

Check if data item contains Calibrated Accelerometer data.

Definition at line 740 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalAcc().

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◆ containsCalData()

bool xsens::Packet::containsCalData ( const uint16_t index = 0 ) const

Check if data item contains Calibrated Data.

Definition at line 861 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalData().

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◆ containsCalGyr()

bool xsens::Packet::containsCalGyr ( const uint16_t index = 0 ) const

Check if data item contains Calibrated Gyroscope data.

Definition at line 780 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalGyr().

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◆ containsCalMag()

bool xsens::Packet::containsCalMag ( const uint16_t index = 0 ) const

Check if data item contains Calibrated Magnetometer data.

Definition at line 820 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalMag().

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◆ containsOriEuler()

bool xsens::Packet::containsOriEuler ( const uint16_t index = 0 ) const

Check if data item contains Euler Orientation data.

Definition at line 956 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriEuler().

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◆ containsOriMatrix()

bool xsens::Packet::containsOriMatrix ( const uint16_t index = 0 ) const

Check if data item contains Matrix Orientation data.

Definition at line 1009 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriMatrix().

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◆ containsOriQuat()

bool xsens::Packet::containsOriQuat ( const uint16_t index = 0 ) const

Check if data item contains Quaternion Orientation data.

Definition at line 909 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriQuat().

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◆ containsPositionLLA()

bool xsens::Packet::containsPositionLLA ( const uint16_t index = 0 ) const

Check if data item contains Position Lat Lon Alt.

Definition at line 1116 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getPositionLLA().

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◆ containsRawAcc()

bool xsens::Packet::containsRawAcc ( const uint16_t index = 0 ) const

Check if data item contains Raw Accelerometer data.

Definition at line 434 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawAcc().

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◆ containsRawData()

bool xsens::Packet::containsRawData ( const uint16_t index = 0 ) const

Check if data item contains Raw Data.

Definition at line 572 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawData().

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◆ containsRawGpsData()

bool xsens::Packet::containsRawGpsData ( const uint16_t index = 0 ) const

Check if data item contains Raw GpsPrint Data.

Definition at line 632 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawGpsData().

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◆ containsRawGyr()

bool xsens::Packet::containsRawGyr ( const uint16_t index = 0 ) const

Check if data item contains Raw Gyroscope data.

Definition at line 468 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawGyr().

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◆ containsRawMag()

bool xsens::Packet::containsRawMag ( const uint16_t index = 0 ) const

Check if data item contains Raw Magnetometer data.

Definition at line 502 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawMag().

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◆ containsRawTemp()

bool xsens::Packet::containsRawTemp ( const uint16_t index = 0 ) const

Check if data item contains Raw Temperature data.

Definition at line 532 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawTemp().

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◆ containsSampleCounter()

bool xsens::Packet::containsSampleCounter ( const uint16_t index = 0 ) const

Check if data item contains Sample Counter.

Definition at line 1222 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getSampleCounter().

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◆ containsStatus()

bool xsens::Packet::containsStatus ( const uint16_t index = 0 ) const

Check if data item contains Velocity.

Definition at line 1193 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getStatus().

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◆ containsTemp()

bool xsens::Packet::containsTemp ( const uint16_t index = 0 ) const

Check if data item contains Temperature data.

Definition at line 702 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getTemp().

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◆ containsVelocity()

bool xsens::Packet::containsVelocity ( const uint16_t index = 0 ) const

Check if data item contains Velocity.

Definition at line 1157 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getVelocity().

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◆ getAccG()

CmtVector xsens::Packet::getAccG ( const uint16_t index = 0 ) const

Return the XKF-3 Acc-G component of the packet.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1250 of file cmtpacket.cpp.

References containsAccG(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_acc_g, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

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◆ getAnalogIn1()

CmtAnalogInData xsens::Packet::getAnalogIn1 ( const uint16_t index = 0 ) const

Return the AnalogIn 1 component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1041 of file cmtpacket.cpp.

References containsAnalogIn1(), xsens::Message::getDataShort(), m_infoList, and m_msg.

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◆ getAnalogIn2()

CmtAnalogInData xsens::Packet::getAnalogIn2 ( const uint16_t index = 0 ) const

Return the AnalogIn 2 component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1073 of file cmtpacket.cpp.

References containsAnalogIn2(), xsens::Message::getDataShort(), m_infoList, and m_msg.

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◆ getCalAcc()

CmtVector xsens::Packet::getCalAcc ( const uint16_t index = 0 ) const

Return the Calibrated Accelerometer component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 729 of file cmtpacket.cpp.

References containsCalAcc(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calAcc, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

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◆ getCalData()

CmtCalData xsens::Packet::getCalData ( const uint16_t index = 0 ) const

Return the Calibrated Data component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 849 of file cmtpacket.cpp.

References containsCalData(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calData, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

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◆ getCalGyr()

CmtVector xsens::Packet::getCalGyr ( const uint16_t index = 0 ) const

Return the Calibrated Gyroscope component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 769 of file cmtpacket.cpp.

References containsCalGyr(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calGyr, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

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◆ getCalMag()

CmtVector xsens::Packet::getCalMag ( const uint16_t index = 0 ) const

Return the Calibrated Magnetometer component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 809 of file cmtpacket.cpp.

References containsCalMag(), xsens::Message::getDataFPValue(), xsens::Packet::PacketInfo::m_calMag, m_formatList, m_infoList, m_msg, and CmtDataFormat::m_outputSettings.

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◆ getDataFormat()

CmtDataFormat xsens::Packet::getDataFormat ( const uint16_t index = 0 ) const

Definition at line 69 of file cmtpacket.cpp.

References m_formatList, and m_itemCount.

◆ getDataSize()

uint16_t xsens::Packet::getDataSize ( const uint16_t index = 0 ) const

Return the data size.

Parameters

index The index of the item of which the size should be returned.

Definition at line 178 of file cmtpacket.cpp.

Referenced by containsAccG(), containsAnalogIn1(), containsAnalogIn2(), containsCalAcc(), containsCalData(), containsCalGyr(), containsCalMag(), containsOriEuler(), containsOriMatrix(), containsOriQuat(), containsPositionLLA(), containsRawAcc(), containsRawData(), containsRawGpsData(), containsRawGyr(), containsRawMag(), containsRawTemp(), containsSampleCounter(), containsStatus(), containsTemp(), containsVelocity(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGpsData(), updateRawGyr(), updateRawMag(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), and updateVelocity().

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◆ getFPValueSize()

uint16_t xsens::Packet::getFPValueSize ( const uint16_t index ) const

Return the floating/fixed point value size.

Parameters

index The index of the item whose fp size should be returned.

Definition at line 148 of file cmtpacket.cpp.

References CMT_OUTPUTSETTINGS_DATAFORMAT_DOUBLE, CMT_OUTPUTSETTINGS_DATAFORMAT_F1220, CMT_OUTPUTSETTINGS_DATAFORMAT_FLOAT, CMT_OUTPUTSETTINGS_DATAFORMAT_FP1632, CMT_OUTPUTSETTINGS_DATAFORMAT_MASK, and m_formatList.

Referenced by getDataSize(), getOriEuler(), getOriMatrix(), updateAccG(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateTemp(), and updateVelocity().

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◆ getOriEuler()

CmtEuler xsens::Packet::getOriEuler ( const uint16_t index = 0 ) const

Return the Orientation component of a data item as Euler angles.

Parameters

index The index of the item of which the data should be returned.

Definition at line 939 of file cmtpacket.cpp.

References containsOriEuler(), xsens::Message::getDataFPValue(), getFPValueSize(), m_formatList, m_infoList, and m_msg.

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◆ getOriMatrix()

CmtMatrix xsens::Packet::getOriMatrix ( const uint16_t index = 0 ) const

Return the Orientation component of a data item as an Orientation Matrix.

Parameters

index The index of the item of which the data should be returned.

Definition at line 991 of file cmtpacket.cpp.

References containsOriMatrix(), xsens::Message::getDataFPValue(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriMat, and CmtDataFormat::m_outputSettings.

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◆ getOriQuat()

CmtQuat xsens::Packet::getOriQuat ( const uint16_t index = 0 ) const

Return the Orientation component of a data item as a Quaternion.

Parameters

index The index of the item of which the data should be returned.

Definition at line 897 of file cmtpacket.cpp.

References containsOriQuat(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriQuat, and CmtDataFormat::m_outputSettings.

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◆ getPositionLLA()

CmtVector xsens::Packet::getPositionLLA ( const uint16_t index = 0 ) const

Return the Position Lat Lon Alt component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1105 of file cmtpacket.cpp.

References containsPositionLLA(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, CmtDataFormat::m_outputSettings, and xsens::Packet::PacketInfo::m_posLLA.

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◆ getRawAcc()

CmtShortVector xsens::Packet::getRawAcc ( const uint16_t index = 0 ) const

Return the Raw Accelerometer component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 424 of file cmtpacket.cpp.

References containsRawAcc(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawAcc.

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◆ getRawData()

CmtRawData xsens::Packet::getRawData ( const uint16_t index = 0 ) const

Return the Raw Data component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 556 of file cmtpacket.cpp.

References containsRawData(), xsens::Message::getDataBuffer(), m_infoList, m_msg, and swapEndian16.

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◆ getRawGpsData()

CmtRawGpsData xsens::Packet::getRawGpsData ( const uint16_t index = 0 ) const

Return the Raw GpsPrint Data component of a data item. TODO: Implement in COM interface!!!

Parameters

index The index of the item of which the data should be returned.

Definition at line 602 of file cmtpacket.cpp.

References containsRawGpsData(), xsens::Message::getDataByte(), xsens::Message::getDataLong(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawGpsGpsData.

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◆ getRawGyr()

CmtShortVector xsens::Packet::getRawGyr ( const uint16_t index = 0 ) const

Return the Raw Gyroscope component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 458 of file cmtpacket.cpp.

References containsRawGyr(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawGyr.

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◆ getRawMag()

CmtShortVector xsens::Packet::getRawMag ( const uint16_t index = 0 ) const

Return the Raw Magnetometer component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 492 of file cmtpacket.cpp.

References containsRawMag(), xsens::Message::getDataShort(), m_infoList, m_msg, and xsens::Packet::PacketInfo::m_rawMag.

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◆ getRawTemp()

uint16_t xsens::Packet::getRawTemp ( const uint16_t index = 0 ) const

Return the Raw Temperature component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 526 of file cmtpacket.cpp.

References containsRawTemp(), xsens::Message::getDataShort(), m_infoList, and m_msg.

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◆ getRtc()

TimeStamp xsens::Packet::getRtc ( const uint16_t index = 0 ) const

Return the RTC of the packet.

Parameters

index The index of the item of which the data should be returned. (ignored)

Definition at line 1242 of file cmtpacket.cpp.

References m_rtc, and MRPT_UNUSED_PARAM.

◆ getSampleCounter()

uint16_t xsens::Packet::getSampleCounter ( const uint16_t index = 0 ) const

Return the Sample Counter component of the packet.

Parameters

index The index of the item of which the data should be returned. (ignored)

Definition at line 1217 of file cmtpacket.cpp.

References containsSampleCounter(), xsens::Message::getDataShort(), m_infoList, and m_msg.

Referenced by xsens::Cmt3::fillRtc(), and setXbus().

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◆ getStatus()

uint8_t xsens::Packet::getStatus ( const uint16_t index = 0 ) const

Return the Status component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1187 of file cmtpacket.cpp.

References containsStatus(), xsens::Message::getDataByte(), m_infoList, and m_msg.

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◆ getTemp()

double xsens::Packet::getTemp ( const uint16_t index = 0 ) const

Return the Temperature component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 694 of file cmtpacket.cpp.

References containsTemp(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, and m_msg.

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◆ getVelocity()

CmtVector xsens::Packet::getVelocity ( const uint16_t index = 0 ) const

Return the Velocity component of a data item.

Parameters

index The index of the item of which the data should be returned.

Definition at line 1145 of file cmtpacket.cpp.

References containsVelocity(), xsens::Message::getDataFPValue(), m_formatList, m_infoList, m_msg, CmtDataFormat::m_outputSettings, and xsens::Packet::PacketInfo::m_velNEDorNWU.

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◆ getXbus()

bool xsens::Packet::getXbus ( void ) const

Definition at line 107 of file cmtpacket.cpp.

References m_xm.

◆ operator=()

void xsens::Packet::operator= ( const Packet & pack )

Definition at line 1299 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, m_msg, m_rtc, m_toa, m_xm, and PACKETLOG.

◆ setDataFormat() [1/2]

bool xsens::Packet::setDataFormat	(	const CmtDataFormat &	format,
		const uint16_t	index = `0`
	)

Definition at line 80 of file cmtpacket.cpp.

References m_formatList, m_infoList, and m_itemCount.

Referenced by xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

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◆ setDataFormat() [2/2]

bool xsens::Packet::setDataFormat	(	const CmtOutputMode	outputMode,
		const CmtOutputSettings	outputSettings,
		const uint16_t	index = `0`
	)

Definition at line 92 of file cmtpacket.cpp.

References m_formatList, m_infoList, m_itemCount, CmtDataFormat::m_outputMode, and CmtDataFormat::m_outputSettings.

◆ setXbus()

void xsens::Packet::setXbus	(	bool	xbus,
		bool	convert = `false`
	)

Definition at line 109 of file cmtpacket.cpp.

References xsens::Message::deleteData(), getSampleCounter(), xsens::Message::insertData(), m_infoList, m_msg, m_xm, and xsens::Message::setDataShort().

Referenced by xsens::Cmt3::readDataPacket().

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◆ updateAccG()

bool xsens::Packet::updateAccG	(	const CmtVector &	g,
		const uint16_t	index = `0`
	)

Add/update XKF-3 Acc-G data for the item.

Definition at line 1268 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), xsens::Packet::PacketInfo::m_acc_g, m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateAnalogIn1()

bool xsens::Packet::updateAnalogIn1	(	const CmtAnalogInData &	data,
		const uint16_t	index = `0`
	)

Add/update AnalogIn 1 for the item.

Definition at line 1056 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), xsens::Packet::PacketInfo::m_analogIn1, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateAnalogIn2()

bool xsens::Packet::updateAnalogIn2	(	const CmtAnalogInData &	data,
		const uint16_t	index = `0`
	)

Add/update AnalogIn 2 for the item.

Definition at line 1088 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), xsens::Packet::PacketInfo::m_analogIn2, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateCalAcc()

bool xsens::Packet::updateCalAcc	(	const CmtVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Calibrated Accelerometer data for the item.

Definition at line 746 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), xsens::Packet::PacketInfo::m_calAcc, CmtVector::m_data, m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateCalData()

bool xsens::Packet::updateCalData	(	const CmtCalData &	data,
		const uint16_t	index = `0`
	)

Add/update Calibrated Data for the item.

Definition at line 868 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), xsens::Message::m_autoUpdateChecksum, xsens::Packet::PacketInfo::m_calAcc, xsens::Packet::PacketInfo::m_calData, xsens::Packet::PacketInfo::m_calGyr, xsens::Packet::PacketInfo::m_calMag, m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateCalGyr()

bool xsens::Packet::updateCalGyr	(	const CmtVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Calibrated Gyroscope data for the item.

Definition at line 786 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), xsens::Packet::PacketInfo::m_calGyr, CmtVector::m_data, m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateCalMag()

bool xsens::Packet::updateCalMag	(	const CmtVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Calibrated Magnetometer data for the item.

Definition at line 826 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), xsens::Packet::PacketInfo::m_calMag, CmtVector::m_data, m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateOriEuler()

bool xsens::Packet::updateOriEuler	(	const CmtEuler &	data,
		const uint16_t	index = `0`
	)

Add/update Euler Orientation data for the item.

Definition at line 962 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriEul, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateOriMatrix()

bool xsens::Packet::updateOriMatrix	(	const CmtMatrix &	data,
		const uint16_t	index = `0`
	)

Add/update Matrix Orientation data for the item.

Definition at line 1015 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriMat, CmtDataFormat::m_outputSettings, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateOriQuat()

bool xsens::Packet::updateOriQuat	(	const CmtQuat &	data,
		const uint16_t	index = `0`
	)

Add/update Quaternion Orientation data for the item.

Definition at line 916 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_oriQuat, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updatePositionLLA()

bool xsens::Packet::updatePositionLLA	(	const CmtVector &	data,
		const uint16_t	index = `0`
	)

Add/update Position Lat Lon Alt for the item.

Definition at line 1122 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_posLLA, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateRawAcc()

bool xsens::Packet::updateRawAcc	(	const CmtShortVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Raw Accelerometer data for the item.

Definition at line 440 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), CmtShortVector::m_data, m_infoList, m_msg, xsens::Packet::PacketInfo::m_rawAcc, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateRawData()

bool xsens::Packet::updateRawData	(	const CmtRawData &	data,
		const uint16_t	index = `0`
	)

Add/update Raw Data for the item.

Definition at line 579 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Packet::PacketInfo::m_rawAcc, xsens::Packet::PacketInfo::m_rawData, xsens::Packet::PacketInfo::m_rawGyr, xsens::Packet::PacketInfo::m_rawMag, xsens::Packet::PacketInfo::m_rawTemp, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateRawGpsData()

bool xsens::Packet::updateRawGpsData	(	const CmtRawGpsData &	data,
		const uint16_t	index = `0`
	)

Add/update Raw GpsPrint Data for the item.

Definition at line 639 of file cmtpacket.cpp.

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◆ updateRawGyr()

bool xsens::Packet::updateRawGyr	(	const CmtShortVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Raw Gyroscope data for the item.

Definition at line 474 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), CmtShortVector::m_data, m_infoList, m_msg, xsens::Packet::PacketInfo::m_rawGyr, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateRawMag()

bool xsens::Packet::updateRawMag	(	const CmtShortVector &	vec,
		const uint16_t	index = `0`
	)

Add/update Raw Magnetometer data for the item.

Definition at line 508 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), CmtShortVector::m_data, m_infoList, m_msg, xsens::Packet::PacketInfo::m_rawMag, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateRawTemp()

bool xsens::Packet::updateRawTemp	(	uint16_t	temp,
		const uint16_t	index = `0`
	)

Add/update Raw Temperature data for the item.

Definition at line 539 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Packet::PacketInfo::m_rawTemp, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateSampleCounter()

bool xsens::Packet::updateSampleCounter	(	uint16_t	counter,
		const uint16_t	index = `0`
	)

Add/update Sample Counter for all items.

Definition at line 1228 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, counter, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Packet::PacketInfo::m_sc, xsens::Packet::PacketInfo::m_size, xsens::Message::resizeData(), and xsens::Message::setDataShort().

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◆ updateStatus()

bool xsens::Packet::updateStatus	(	const uint8_t	data,
		const uint16_t	index = `0`
	)

Add/update Status information for the item.

Definition at line 1199 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Packet::PacketInfo::m_status, xsens::Message::resizeData(), and xsens::Message::setDataByte().

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◆ updateTemp()

bool xsens::Packet::updateTemp	(	const double &	temp,
		const uint16_t	index = `0`
	)

Add/update Calibrated Accelerometer data for the item.

Definition at line 708 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Packet::PacketInfo::m_temp, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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◆ updateVelocity()

bool xsens::Packet::updateVelocity	(	const CmtVector &	data,
		const uint16_t	index = `0`
	)

Add/update Velocity for the item.

Definition at line 1164 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Packet::PacketInfo::m_size, xsens::Packet::PacketInfo::m_velNEDorNWU, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

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Member Data Documentation

◆ m_formatList

CmtDataFormat* xsens::Packet::m_formatList

protected

A list of the formats of the data items.

Definition at line 70 of file cmtpacket.h.

Referenced by getAccG(), getCalAcc(), getCalData(), getCalGyr(), getCalMag(), getDataFormat(), getDataSize(), getFPValueSize(), getOriEuler(), getOriMatrix(), getOriQuat(), getPositionLLA(), getTemp(), getVelocity(), operator=(), Packet(), setDataFormat(), updateAccG(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateTemp(), updateVelocity(), and ~Packet().

◆ m_infoList

struct xsens::Packet::PacketInfo * xsens::Packet::m_infoList

protected

Referenced by containsAccG(), containsAnalogIn1(), containsAnalogIn2(), containsCalAcc(), containsCalData(), containsCalGyr(), containsCalMag(), containsOriEuler(), containsOriMatrix(), containsOriQuat(), containsPositionLLA(), containsRawAcc(), containsRawData(), containsRawGpsData(), containsRawGyr(), containsRawMag(), containsRawTemp(), containsSampleCounter(), containsStatus(), containsTemp(), containsVelocity(), getAccG(), getAnalogIn1(), getAnalogIn2(), getCalAcc(), getCalData(), getCalGyr(), getCalMag(), getDataSize(), getOriEuler(), getOriMatrix(), getOriQuat(), getPositionLLA(), getRawAcc(), getRawData(), getRawGpsData(), getRawGyr(), getRawMag(), getRawTemp(), getSampleCounter(), getStatus(), getTemp(), getVelocity(), operator=(), Packet(), setDataFormat(), setXbus(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGpsData(), updateRawGyr(), updateRawMag(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), updateVelocity(), and ~Packet().

◆ m_itemCount

uint16_t xsens::Packet::m_itemCount

The number of data items in the message.

Definition at line 76 of file cmtpacket.h.

Referenced by getDataFormat(), getDataSize(), operator=(), Packet(), xsens::Cmt3::readDataPacket(), setDataFormat(), and xsens::Cmt3::waitForDataMessage().

◆ m_msg

Message xsens::Packet::m_msg

◆ m_rtc

TimeStamp xsens::Packet::m_rtc

Sample time in ms, based on the sample counter.

Definition at line 80 of file cmtpacket.h.

Referenced by xsens::Cmt3::fillRtc(), getRtc(), operator=(), and Packet().

◆ m_toa

TimeStamp xsens::Packet::m_toa

Time of arrival.

Definition at line 82 of file cmtpacket.h.

Referenced by xsens::Cmt3::fillRtc(), operator=(), Packet(), xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

◆ m_xm

bool xsens::Packet::m_xm

protected

Indicates that xbus-formatting is used.

Definition at line 72 of file cmtpacket.h.

Referenced by getDataSize(), getXbus(), operator=(), Packet(), and setXbus().

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ Packet() [1/2]

◆ Packet() [2/2]

◆ ~Packet()

Member Function Documentation

◆ containsAccG()

◆ containsAnalogIn1()

◆ containsAnalogIn2()

◆ containsCalAcc()

◆ containsCalData()

◆ containsCalGyr()

◆ containsCalMag()

◆ containsOriEuler()

◆ containsOriMatrix()

◆ containsOriQuat()

◆ containsPositionLLA()

◆ containsRawAcc()

◆ containsRawData()

◆ containsRawGpsData()

◆ containsRawGyr()

◆ containsRawMag()

◆ containsRawTemp()

◆ containsSampleCounter()

◆ containsStatus()

◆ containsTemp()

◆ containsVelocity()

◆ getAccG()

◆ getAnalogIn1()

◆ getAnalogIn2()

◆ getCalAcc()

◆ getCalData()

◆ getCalGyr()

◆ getCalMag()

◆ getDataFormat()

◆ getDataSize()

◆ getFPValueSize()

◆ getOriEuler()

◆ getOriMatrix()

◆ getOriQuat()

◆ getPositionLLA()

◆ getRawAcc()

◆ getRawData()

◆ getRawGpsData()

◆ getRawGyr()

◆ getRawMag()

◆ getRawTemp()

◆ getRtc()

◆ getSampleCounter()

◆ getStatus()

◆ getTemp()

◆ getVelocity()

◆ getXbus()

◆ operator=()

◆ setDataFormat() [1/2]

◆ setDataFormat() [2/2]

◆ setXbus()

◆ updateAccG()

◆ updateAnalogIn1()

◆ updateAnalogIn2()

◆ updateCalAcc()

◆ updateCalData()

◆ updateCalGyr()

◆ updateCalMag()

◆ updateOriEuler()

◆ updateOriMatrix()

◆ updateOriQuat()

◆ updatePositionLLA()

◆ updateRawAcc()

◆ updateRawData()

◆ updateRawGpsData()

◆ updateRawGyr()

◆ updateRawMag()

◆ updateRawTemp()

◆ updateSampleCounter()

◆ updateStatus()