mtwsdidata.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef MTWSDIDATA_H
#define MTWSDIDATA_H

#include <xsens/pstdint.h>
#include <xsens/xsvector3.h>
#include <xsens/xsquaternion.h>
#include <xsens/xsdeviceid.h>

struct XsRange;

struct MtwSdiData
{
        /** The ID of the device that generated the data */
        XsDeviceId m_deviceId;
        /** Indicates if the time sync is in order (unused) */
        uint8_t m_timeSync;
        /** The first frame number of the SDI interval. The time of the interval is
         * [first, last) */
        uint16_t m_firstFrameNumber;
        /** The last frame number of the SDI interval. The time of the interval is
         * [first, last) */
        uint16_t m_lastFrameNumber;
        /** The gyroscope bias used during the SDI interval */
        XsVector3 m_currentBias;
        /** The orientation increment (delta Q) over the interval */
        XsQuaternion m_orientationIncrement;
        /** The velocity increment (delta V) over the interval */
        XsVector3 m_velocityIncrement;
        /** reserved */
        bool m_aidingData;
        /** The barometer value during the interval */
        double m_barometer;
        /** The magnetometer values during the interval */
        XsVector3 m_magnetoMeter;
        /** The Received Signal Strength Indication (RSSI) of the message */
        int8_t m_rssi;

        MtwSdiData();
        MtwSdiData(const MtwSdiData& other);
        ~MtwSdiData();
        const MtwSdiData& operator=(const MtwSdiData& other);

        bool empty() const;
        bool containsAidingData() const;
        XsQuaternion orientationIncrement() const;
        XsVector velocityIncrement() const;
        double pressure() const;
        XsVector magneticField() const;
        XsVector currentBias() const;
        XsRange frameRange() const;
        double rssi() const;
};

#endif  // file guard