imu
Interface specifications

Inertial Measurement Unit. More...

#define | PLAYER_IMU_DATA_STATE 1
| Data subtype: IMU position/orientation data.
#define | PLAYER_IMU_DATA_CALIB 2
| Data subtype: Calibrated IMU data.
#define | PLAYER_IMU_DATA_QUAT 3
| Data subtype: Quaternions orientation data.
#define | PLAYER_IMU_DATA_EULER 4
| Data subtype: Euler orientation data.
#define | PLAYER_IMU_DATA_FULLSTATE 5
| Data subtype: All IMU position/orientation data.
#define | PLAYER_IMU_REQ_SET_DATATYPE 1
| Request/reply subtype: set data type.
#define | PLAYER_IMU_REQ_RESET_ORIENTATION 2
| Request/reply subtype: reset orientation.
typedef struct player_imu_data_state | player_imu_data_state_t
| Data: calibrated IMU data (PLAYER_IMU_DATA_STATE) More...
typedef struct player_imu_data_calib | player_imu_data_calib_t
| Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB) More...
typedef struct player_imu_data_quat | player_imu_data_quat_t
| Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT) More...
typedef struct player_imu_data_euler | player_imu_data_euler_t
| Data: Euler orientation data (PLAYER_IMU_DATA_EULER) More...
typedef struct player_imu_data_fullstate | player_imu_data_fullstate_t
| Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE) More...
typedef struct player_imu_datatype_config | player_imu_datatype_config_t
| Request/reply: change the data type to one of the predefined data structures. More...
typedef struct player_imu_reset_orientation_config | player_imu_reset_orientation_config_t
| Request/reply: Reset orientation. More...

## Detailed Description

Inertial Measurement Unit.

The `imu` interface provides access to an Inertial Measurement Unit sensor (such as the XSens MTx/MTi).

## Typedef Documentation

typedef struct player_imu_data_calib player_imu_data_calib_t

Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)

The `imu` interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor.

typedef struct player_imu_data_euler player_imu_data_euler_t

Data: Euler orientation data (PLAYER_IMU_DATA_EULER)

The `imu` interface returns calibrated IMU values as well as orientation data as Euler angles.

typedef struct player_imu_data_fullstate player_imu_data_fullstate_t

Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)

The `imu` interface returns the complete 3D coordinates + angles position in space, as well as velocity and acceleration of the IMU sensor.

typedef struct player_imu_data_quat player_imu_data_quat_t

Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)

The `imu` interface returns calibrated IMU values as well as orientation data as quaternions.

typedef struct player_imu_data_state player_imu_data_state_t

Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)

The `imu` interface returns the complete 3D coordinates + angles position in space, of the IMU sensor.

typedef struct player_imu_datatype_config player_imu_datatype_config_t

Request/reply: change the data type to one of the predefined data structures.

Send a PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated data, 3D pose and orientation, Euler orientation or Quaternions orientation in the data packet. Null response.

typedef struct player_imu_reset_orientation_config player_imu_reset_orientation_config_t

Request/reply: Reset orientation.

To reset the IMU's orientation, send a PLAYER_IMU_REQ_RESET_ORIENTATION request. Null response.

Last updated 12 September 2005 21:38:45