class mrpt::hwdrivers::CIMUIntersense

Overview

A class for interfacing Intersense Inertial Measuring Units (IMUs).

It connects to a InterSense inertiaCube 3 sensor and records inertial data. NOTE: This device provides:

Euler angles,
2 angular velocties (body-frame and navigation-frame)
X,Y,Z velocity
2 accelerations (body-frame and navigation-frame)

In order to record all this information within the ‘rawMeasurements’ vector in mrpt::obs::CObservationIMU, some of it had to be stored in positions which weren’t intended for the stored data (marked with *):

Euler angles –> rawMeasurements[IMU_YAW], rawMeasurements[IMU_PITCH], rawMeasurements[IMU_ROLL]
Body-frame angular velocity –> rawMeasurements[IMU_YAW_VEL], rawMeasurements[IMU_PITCH_VEL], rawMeasurements[IMU_ROLL_VEL]
* Nav-frame angular velocity –> rawMeasurements[IMU_MAG_X], rawMeasurements[IMU_MAG_Y], rawMeasurements[IMU_MAG_Z]
XYZ velocity –> rawMeasurements[IMU_X_VEL], rawMeasurements[IMU_Y_VEL], rawMeasurements[IMU_Z_VEL]
Body-frame acceleration –> rawMeasurements[IMU_X_ACC], rawMeasurements[IMU_Y_ACC], rawMeasurements[IMU_Z_ACC]
* Nav-frame acceleration –> rawMeasurements[IMU_X], rawMeasurements[IMU_Y], rawMeasurements[IMU_Z] Be careful with this when using the grabbed mrpt::obs::CObservationIMU data.

See also the application “rawlog-grabber” for a ready-to-use application to gather data from this sensor.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   driver      = CIMUIntersense
      sensorLabel  = <label>           ; Label of the sensor
   pose_x      = 0                 ; [double] Sensor 3D position relative to the robot (meters)
   pose_y      = 0
   pose_z      = 0
   pose_yaw        = 0                 ; [double] Angles in degrees
   pose_pitch  = 0
   pose_roll   = 0

      sensitivity  = 10                ; [int] Sensor sensitivity (see API documentation)
      enhancement  = 2                 ; [int] Enhancement mode (see API documentation)
      prediction   = 0                 ; [int] Prediction mode (see API documentation)
      useBuffer    = 0                 ; [bool] {0,1} (unused by now) Whether or not use a buffer for storing old data (see API documentation)

Class introduced in MRPT 1.3.1

#include <mrpt/hwdrivers/CIMUIntersense.h>

class CIMUIntersense: public mrpt::hwdrivers::CGenericSensor
{
public:
    // construction

    CIMUIntersense();

    // methods

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

Inherited Members

public:
    // methods

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

Construction

CIMUIntersense()

Constructor.

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 iSense device and configure it for getting orientation data.