Xsens::MTi Class Reference

#include <MTi.h>

Classes
struct	_outputMode
struct	_outputSettings
struct	_Position
Public Types
typedef struct Xsens::MTi::_outputMode	outputMode
typedef struct Xsens::MTi::_outputSettings	outputSettings
typedef struct Xsens::MTi::_Position	Position
Public Member Functions
float	accelerometer_x () const
float	accelerometer_y () const
float	accelerometer_z () const
void	addMessageToQueue (MTMessageIdentifier messageID, std::vector< unsigned char > *data, MTMessageIdentifier ack)
	Add a message to the queue in order to send it after.
float	altitude () const
bool	closePort ()
	Close the serial port.
float	compass_x () const
float	compass_y () const
float	compass_z () const
sensor_msgs::Imu	fillImuMessage (const ros::Time &now)
	Fill ROS IMU message with the values come from the xsens.
sensor_msgs::NavSatFix	fillNavFixMessage (const ros::Time &now)
	Fill ROS NavSatFix message with the values come from the xsens.
nav_msgs::Odometry	fillOdometryMessage (const tf::TransformListener &listener, tf::TransformBroadcaster &odom_broadcaster, const ros::Time &now)
	Fill ROS odometry message with the values come from the xsens.
void	getDeviceID ()
	Ask to the xsens its Device ID.
bool	GPSFix () const
float	gyroscope_x () const
float	gyroscope_y () const
float	gyroscope_z () const
uint32_t	horizontalAccuracy () const
float	latitude () const
float	longitude () const
void	makeMessage (MTMessageIdentifier mid, std::vector< unsigned char > data, std::vector< unsigned char > message)
	Make the message with the right ID and to match with the xsens protocol.
	MTi ()
	Constructor.
bool	openPort (char *name, int baudrate)
	Open serial port to communicate with the Xsens.
float	pitch ()
float	quaternion_w () const
float	quaternion_x () const
float	quaternion_y () const
float	quaternion_z () const
float	roll ()
bool	setSettings (outputMode mode, outputSettings settings, Scenario scenario, const std::string &rosNamespace, const std::string &frameID, const Position &GPSLeverArm, int timeout)
	Set the configuration of the xsens: outputMode outputSettings frameID of the IMU.
float	temperature () const
float	velocity_x () const
float	velocity_y () const
float	velocity_z () const
float	velocityDown () const
float	velocityEast () const
float	velocityNorth () const
uint32_t	verticalAccuracy () const
bool	waitForQueueToFinish (int timeout)
	Wait all the messages queued to be sent.
float	yaw ()
	~MTi ()
	Destructor.
Private Member Functions
void	fillQuaternionWithOutputSettings (double &x, double &y, double &z, double &w)
	Fill value according to the configuration of the xsens.
bool	isMtiG ()
	Check if the xsens model is a Mti-G.
bool	isSelfTestCompleted ()
	Check if the power‐up self test completed successfully.
void	manageIncomingData (std::vector< unsigned char > *data, bool dataIsExtended)
	Manage the incoming data in order to retreive the ID and the corresponding data.
void	manageQueue ()
	Manage the queue in order to send messages.
void	resetGPSValues ()
	Reset GPS values as altitude, longitude ...
void	resetPackage ()
	Reset data received.
void	serialPortReadData (char *data, int length)
	Read data on the serial port.
bool	serialPortSendData (std::vector< unsigned char > *data)
	Send data to the XSens.
Private Attributes
float	accX
float	accY
float	accZ
bool	ConfigState
float	epitch
float	eroll
float	eyaw
float	gyrX
float	gyrY
float	gyrZ
tf::TransformListener	listener
float	magX
float	magY
float	magZ
float	mAltitude
uint32_t	mDeviceID
std::string	mFrameID
uint32_t	mHorizontalAccuracy
Position	mInitialPosition
float	mLatitude
float	mLongitude
std::string	mRosNamespace
Scenario	mScenario
std::vector< unsigned char >	mScenarioData
unsigned char	mStatus
float	mTemperature
float	mVelocityDown
float	mVelocityEast
float	mVelocityNorth
float	mVelocityX
float	mVelocityY
float	mVelocityZ
uint32_t	mVerticalAccuracy
int	numOfBytes
outputMode	output_mode
outputSettings	output_settings
std::vector< unsigned char >	outputModeData
std::vector< unsigned char >	outputSettingsData
std::vector< unsigned char >	package
int	packageIndex
bool	packageInTransit
bool	packageIsExtended
int	packageLength
float	q0
float	q1
float	q2
float	q3
std::vector< MTMessage >	queue
MTMessageIdentifier	queueAck
bool	queueIsRunning
bool	queueIsWaiting
cereal::CerealPort	serial_port
geometry_msgs::PoseStamped	source_pose
geometry_msgs::PoseStamped	target_pose
unsigned int	ts
float	yawCompensation

Detailed Description

Definition at line 86 of file MTi.h.

Member Typedef Documentation

typedef struct Xsens::MTi::_outputMode Xsens::MTi::outputMode

typedef struct Xsens::MTi::_outputSettings Xsens::MTi::outputSettings

typedef struct Xsens::MTi::_Position Xsens::MTi::Position

Constructor & Destructor Documentation

Xsens::MTi::MTi ( )

Constructor.

Definition at line 105 of file MTi.cpp.

Xsens::MTi::~MTi ( )

Destructor.

Definition at line 140 of file MTi.cpp.

Member Function Documentation

float Xsens::MTi::accelerometer_x ( ) const [inline]

Definition at line 141 of file MTi.h.

float Xsens::MTi::accelerometer_y ( ) const [inline]

Definition at line 142 of file MTi.h.

float Xsens::MTi::accelerometer_z ( ) const [inline]

Definition at line 143 of file MTi.h.

void Xsens::MTi::addMessageToQueue	(	MTMessageIdentifier	messageID,
		std::vector< unsigned char > *	data,
		MTMessageIdentifier	ack
	)

Add a message to the queue in order to send it after.

Parameters:

	messageID	XSens ID of the message
	data	Data corresponding to the Xsens ID
	ack	Xsens ID received when the message is sent (See Xsens Manual)

Definition at line 314 of file MTi.cpp.

float Xsens::MTi::altitude ( ) const [inline]

Definition at line 159 of file MTi.h.

bool Xsens::MTi::closePort ( )

Close the serial port.

Returns:: bool

Definition at line 390 of file MTi.cpp.

float Xsens::MTi::compass_x ( ) const [inline]

Definition at line 147 of file MTi.h.

float Xsens::MTi::compass_y ( ) const [inline]

Definition at line 148 of file MTi.h.

float Xsens::MTi::compass_z ( ) const [inline]

Definition at line 149 of file MTi.h.

sensor_msgs::Imu Xsens::MTi::fillImuMessage ( const ros::Time & now )

Fill ROS IMU message with the values come from the xsens.

Parameters:

now

Returns:: sensor_msgs::Imu

Definition at line 1059 of file MTi.cpp.

sensor_msgs::NavSatFix Xsens::MTi::fillNavFixMessage ( const ros::Time & now )

Fill ROS NavSatFix message with the values come from the xsens.

Parameters:

now

Returns:: sensor_msgs::NavSatFix

Definition at line 1114 of file MTi.cpp.

nav_msgs::Odometry Xsens::MTi::fillOdometryMessage	(	const tf::TransformListener &	listener,
		tf::TransformBroadcaster &	odom_broadcaster,
		const ros::Time &	now
	)

Fill ROS odometry message with the values come from the xsens.

Parameters:

	listener
	odom_broadcaster
	now

Returns:: nav_msgs::Odometry

Definition at line 948 of file MTi.cpp.

void Xsens::MTi::fillQuaternionWithOutputSettings	(	double &	x,
		double &	y,
		double &	z,
		double &	w
	)			`[private]`

Fill value according to the configuration of the xsens.

Parameters:

	x
	y
	z
	w

Definition at line 1087 of file MTi.cpp.

void Xsens::MTi::getDeviceID ( )

Ask to the xsens its Device ID.

Definition at line 404 of file MTi.cpp.

bool Xsens::MTi::GPSFix ( ) const [inline]

Definition at line 169 of file MTi.h.

float Xsens::MTi::gyroscope_x ( ) const [inline]

Definition at line 144 of file MTi.h.

float Xsens::MTi::gyroscope_y ( ) const [inline]

Definition at line 145 of file MTi.h.

float Xsens::MTi::gyroscope_z ( ) const [inline]

Definition at line 146 of file MTi.h.

uint32_t Xsens::MTi::horizontalAccuracy ( ) const [inline]

Definition at line 170 of file MTi.h.

bool Xsens::MTi::isMtiG ( ) [private]

Check if the xsens model is a Mti-G.

Returns:: bool

Definition at line 151 of file MTi.cpp.

bool Xsens::MTi::isSelfTestCompleted ( ) [private]

Check if the power‐up self test completed successfully.

Returns:: bool

Definition at line 161 of file MTi.cpp.

float Xsens::MTi::latitude ( ) const [inline]

Definition at line 161 of file MTi.h.

float Xsens::MTi::longitude ( ) const [inline]

Definition at line 160 of file MTi.h.

void Xsens::MTi::makeMessage	(	MTMessageIdentifier	mid,
		std::vector< unsigned char > *	data,
		std::vector< unsigned char > *	message
	)

Make the message with the right ID and to match with the xsens protocol.

Parameters:

	mid
	data
	message

Definition at line 867 of file MTi.cpp.

void Xsens::MTi::manageIncomingData	(	std::vector< unsigned char > *	incomingData,
		bool	dataIsExtended
	)			`[private]`

Manage the incoming data in order to retreive the ID and the corresponding data.

Parameters:

	incomingData	Raw data
	dataIsExtended	Raw data can be larger as expected (Xsens protocol)

pow(2,20);

Definition at line 549 of file MTi.cpp.

void Xsens::MTi::manageQueue ( ) [private]

Manage the queue in order to send messages.

Definition at line 324 of file MTi.cpp.

bool Xsens::MTi::openPort	(	char *	name,
		int	baudrate
	)

Open serial port to communicate with the Xsens.

Parameters:

	name	serial port name
	baudrate

Returns:: bool

Definition at line 375 of file MTi.cpp.

float Xsens::MTi::pitch ( ) [inline]

Definition at line 156 of file MTi.h.

float Xsens::MTi::quaternion_w ( ) const [inline]

Definition at line 154 of file MTi.h.

float Xsens::MTi::quaternion_x ( ) const [inline]

Definition at line 151 of file MTi.h.

float Xsens::MTi::quaternion_y ( ) const [inline]

Definition at line 152 of file MTi.h.

float Xsens::MTi::quaternion_z ( ) const [inline]

Definition at line 153 of file MTi.h.

void Xsens::MTi::resetGPSValues ( ) [private]

Reset GPS values as altitude, longitude ...

Definition at line 854 of file MTi.cpp.

void Xsens::MTi::resetPackage ( ) [private]

Reset data received.

Definition at line 299 of file MTi.cpp.

float Xsens::MTi::roll ( ) [inline]

Definition at line 155 of file MTi.h.

void Xsens::MTi::serialPortReadData	(	char *	data,
		int	length
	)			`[private]`

Read data on the serial port.

Parameters:

	data
	length

Definition at line 444 of file MTi.cpp.

bool Xsens::MTi::serialPortSendData ( std::vector< unsigned char > * data ) [private]

Send data to the XSens.

Parameters:

data

Returns:: bool

Definition at line 418 of file MTi.cpp.

bool Xsens::MTi::setSettings	(	outputMode	mode,
		outputSettings	settings,
		Scenario	scenario,
		const std::string &	rosNamespace,
		const std::string &	frameID,
		const Position &	GPSLeverArm,
		int	timeout
	)

Set the configuration of the xsens:

outputMode
outputSettings
frameID of the IMU.

gps_arm (double, double, double) (MTI-G ONLY)
- Default (0,0,0)
- Specifies the x, y and z offsets of the gps antenna with respect to the imu
  Parameters:
  
  mode
  
  settings
  
  timeout
  
  Returns:
  bool