class mrpt::hwdrivers::CIMUXSens_MT4

Overview

A class for interfacing XSens 4th generation Inertial Measuring Units (IMUs): MTi 10-series, MTi 100-series.

Usage considerations:

In Windows, you only need to install XSens drivers.
In Linux, this class requires the system libraries: libusb-1.0 & libudev (dev packages). Accessing USB devices may require running the program as super user (“sudo”). To avoid that, Or, install MRPT/scripts/52-xsens.rules in /etc/udev/rules.d/ to allow access to all users.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   pose_x=0     // Sensor 3D position relative to the robot (meters)
   pose_y=0
   pose_z=0
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0
   sensorLabel = <label>   // Label of the sensor
   #sampleFreq  = 100  // The requested rate of sensor packets (default:
100Hz)
   # If a portname is not provided, the first found device will be opened:
   #portname_LIN    = USB002:005
   #portname_WIN    = \\?\usb#vid_2639&pid_0003#...
   #baudRate        = 115200   // Baudrate for communicating, only if
                            // the port is a COM port
   #deviceId     = xxxxx    // Device ID to open, or first one if empty.
   #logFile      = xxxx     // If provided, will enable XSens SDK's own log

Set the environment variable “MRPT_HWDRIVERS_VERBOSE” to “1” to enable diagnostic information while using this class.

#include <mrpt/hwdrivers/CIMUXSens_MT4.h>

class CIMUXSens_MT4: public mrpt::hwdrivers::CGenericSensor
{
public:
    // structs

    struct Impl;

    // construction

    CIMUXSens_MT4();

    // methods

    virtual void doProcess();
    virtual void initialize();
    void close();
};

Inherited Members

public:
    // methods

    CGenericSensor& operator = (const CGenericSensor&);
    virtual void doProcess() = 0;

Methods

virtual void doProcess()

This method will be invoked at a minimum rate of “process_rate” (Hz)

Parameters:

This	method must throw an exception with a descriptive message if some critical error is found.

virtual void initialize()

Turns on the xSens device and configure it for getting orientation data.