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MtwSdiData Class Reference

Detailed Description

Class to store strapdown integration data.

Note
Intended for internal use.

Definition at line 19 of file mtwsdidata.h.

#include <xSens_MT4/xcommunication/include/xsens/mtwsdidata.h>

Public Member Functions

 MtwSdiData ()
 Construct an empty strapdown integration data object. More...
 
 MtwSdiData (const MtwSdiData &other)
 Construct a copy of other. More...
 
 ~MtwSdiData ()
 Destroy the strapdown integration data structure. More...
 
const MtwSdiDataoperator= (const MtwSdiData &other)
 Assign other to this. More...
 
bool empty () const
 Test if this is a null Awinda object. More...
 
bool containsAidingData () const
 Test if strapdown integration data is available. More...
 
XsQuaternion orientationIncrement () const
 Get the orientation increment value. More...
 
XsVector velocityIncrement () const
 Get the velocity increment value. More...
 
double pressure () const
 Get the pressure as measured by the barometer in hPa. More...
 
XsVector magneticField () const
 Get the magnetic field value. More...
 
XsVector currentBias () const
 Get the current gyroscope bias value. More...
 
XsRange frameRange () const
 Get the frame range of the current strapdown integration data. More...
 
double rssi () const
 Get the rssi of the received strapdown integration data. More...
 

Public Attributes

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

Constructor & Destructor Documentation

◆ MtwSdiData() [1/2]

MtwSdiData::MtwSdiData ( )

Construct an empty strapdown integration data object.

Definition at line 20 of file mtwsdidata.cpp.

◆ MtwSdiData() [2/2]

MtwSdiData::MtwSdiData ( const MtwSdiData other)

Construct a copy of other.

Definition at line 32 of file mtwsdidata.cpp.

◆ ~MtwSdiData()

MtwSdiData::~MtwSdiData ( )

Destroy the strapdown integration data structure.

Definition at line 48 of file mtwsdidata.cpp.

Member Function Documentation

◆ containsAidingData()

bool MtwSdiData::containsAidingData ( ) const

Test if strapdown integration data is available.

Definition at line 70 of file mtwsdidata.cpp.

References empty(), and m_aidingData.

◆ currentBias()

XsVector MtwSdiData::currentBias ( ) const

Get the current gyroscope bias value.

Definition at line 105 of file mtwsdidata.cpp.

References empty(), and m_currentBias.

◆ empty()

bool MtwSdiData::empty ( ) const
inline

Test if this is a null Awinda object.

Definition at line 68 of file mtwsdidata.cpp.

References m_deviceId.

Referenced by containsAidingData(), currentBias(), frameRange(), magneticField(), orientationIncrement(), pressure(), rssi(), and velocityIncrement().

◆ frameRange()

XsRange MtwSdiData::frameRange ( ) const

Get the frame range of the current strapdown integration data.

Definition at line 112 of file mtwsdidata.cpp.

References empty(), m_firstFrameNumber, and m_lastFrameNumber.

◆ magneticField()

XsVector MtwSdiData::magneticField ( ) const

Get the magnetic field value.

Definition at line 98 of file mtwsdidata.cpp.

References empty(), and m_magnetoMeter.

◆ operator=()

const MtwSdiData & MtwSdiData::operator= ( const MtwSdiData other)

◆ orientationIncrement()

XsQuaternion MtwSdiData::orientationIncrement ( ) const

Get the orientation increment value.

Definition at line 77 of file mtwsdidata.cpp.

References empty(), and m_orientationIncrement.

◆ pressure()

double MtwSdiData::pressure ( ) const

Get the pressure as measured by the barometer in hPa.

Definition at line 91 of file mtwsdidata.cpp.

References empty(), and m_barometer.

◆ rssi()

double MtwSdiData::rssi ( ) const

Get the rssi of the received strapdown integration data.

Definition at line 119 of file mtwsdidata.cpp.

References empty(), m_rssi, and XS_RSSI_UNKNOWN.

◆ velocityIncrement()

XsVector MtwSdiData::velocityIncrement ( ) const

Get the velocity increment value.

Definition at line 84 of file mtwsdidata.cpp.

References empty(), and m_velocityIncrement.

Member Data Documentation

◆ m_aidingData

bool MtwSdiData::m_aidingData

reserved

Definition at line 38 of file mtwsdidata.h.

Referenced by containsAidingData(), and operator=().

◆ m_barometer

double MtwSdiData::m_barometer

The barometer value during the interval.

Definition at line 40 of file mtwsdidata.h.

Referenced by operator=(), pressure(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_currentBias

XsVector3 MtwSdiData::m_currentBias

The gyroscope bias used during the SDI interval.

Definition at line 32 of file mtwsdidata.h.

Referenced by currentBias(), and operator=().

◆ m_deviceId

XsDeviceId MtwSdiData::m_deviceId

The ID of the device that generated the data.

Definition at line 22 of file mtwsdidata.h.

Referenced by empty(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_firstFrameNumber

uint16_t MtwSdiData::m_firstFrameNumber

The first frame number of the SDI interval.

The time of the interval is [first, last)

Definition at line 27 of file mtwsdidata.h.

Referenced by frameRange(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_lastFrameNumber

uint16_t MtwSdiData::m_lastFrameNumber

The last frame number of the SDI interval.

The time of the interval is [first, last)

Definition at line 30 of file mtwsdidata.h.

Referenced by frameRange(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_magnetoMeter

XsVector3 MtwSdiData::m_magnetoMeter

The magnetometer values during the interval.

Definition at line 42 of file mtwsdidata.h.

Referenced by magneticField(), operator=(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_orientationIncrement

XsQuaternion MtwSdiData::m_orientationIncrement

The orientation increment (delta Q) over the interval.

Definition at line 34 of file mtwsdidata.h.

Referenced by operator=(), and orientationIncrement().

◆ m_rssi

int8_t MtwSdiData::m_rssi

The Received Signal Strength Indication (RSSI) of the message.

Definition at line 44 of file mtwsdidata.h.

Referenced by operator=(), rssi(), and XsDataPacket_assignFromXsLegacyDataPacket().

◆ m_timeSync

uint8_t MtwSdiData::m_timeSync

Indicates if the time sync is in order (unused)

Definition at line 24 of file mtwsdidata.h.

Referenced by operator=().

◆ m_velocityIncrement

XsVector3 MtwSdiData::m_velocityIncrement

The velocity increment (delta V) over the interval.

Definition at line 36 of file mtwsdidata.h.

Referenced by operator=(), and velocityIncrement().




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