class mrpt::hwdrivers::CTaoboticsIMU
Overview
A driver for Taobotics IMU.
Supported models: HFI-A9, HFI-B9, HFI-B6.
#include <mrpt/hwdrivers/CTaoboticsIMU.h> class CTaoboticsIMU: public mrpt::hwdrivers::CGenericSensor { public: // construction CTaoboticsIMU(); // methods virtual void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase& configSource, const std::string& iniSection); virtual void doProcess(); virtual void initialize(); void setSerialPort(const std::string& serialPort); void setSerialBaudRate(int rate); };
Inherited Members
public: // methods CGenericSensor& operator = (const CGenericSensor&); virtual void doProcess() = 0;
Methods
virtual void loadConfig_sensorSpecific( const mrpt::config::CConfigFileBase& configSource, const std::string& iniSection )
See the class documentation at the top for expected parameters.
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()
Opens the serial port and start streaming data.
You must have called loadConfig_sensorSpecific before calling this function, or set the configuration via the provided methods, e.g. setSerialPort(), etc.
void setSerialPort(const std::string& serialPort)
Must be called before initialize().
If not set, the default is “/dev/ttyUSB0”. Use “COM1”, etc. for Windows.
void setSerialBaudRate(int rate)
Must be called before initialize().
If not called, the default 921600 is used.