API Documentation

ImuAccuracyMessage

The inertial measurement unit (IMU) accuracy message.

The header.timestamp stores the publish timestamp (updated by the publishing node).

Arbitration key member(s): header.src_guid, sensor_descriptor.id

ImuAccuracyMessage::ImuAccuracyMessage ( )

A default constructor.

ImuAccuracyMessage::ImuAccuracyMessage ( … )

A copy constructor.

Parameters
in/out type description
in const ImuAccuracyMessage & Instance being copied.

ImuAccuracyMessage::ImuAccuracyMessage ( … )

A convenience constructor from a related type.

Parameters
in/out type description
in const ps_imu_accuracy_msg & Instance of related type.

ImuAccuracyMessage::~ImuAccuracyMessage ( )

A default destructor.

ImuAccuracyMessage::print ( … )

This will print internal values.

Parameters
in/out type description
in std::ostream & Output stream that defaults to std::cout.

Returns

  • void

ImuAccuracyMessage::get_ps_imu_accuracy_msg ( ) const

This will provided convenient access to a related type.

Returns

ImuAccuracyMessage::operator= ( … )

An assignment operator.

Parameters
in/out type description
in const ImuAccuracyMessage & Instance to copy.
Returns

static ImuAccuracyMessage::getName ( )

This will get the message name. It is useful in functions requiring message names, such as getMessageTypeByName.

Returns
  • std::string

ImuAccuracyMessage::getHeader ( ) const

This will get the PolySync message header.

Returns

ImuAccuracyMessage::setHeader ( … )

This will set the PolySync message header.

Parameters
in/out type description
in MsgHeader & Message header.
Returns
  • void

ImuAccuracyMessage::getHeaderType ( ) const

This will get the message type identifier.

Returns

ImuAccuracyMessage::setHeaderType ( … )

This will set the message type identifier.

Parameters
in/out type description
in ps_msg_type Message type identifier.
Returns
  • void

ImuAccuracyMessage::getHeaderTimestamp ( ) const

This will get the message timestamp. [microseconds]

Returns

ImuAccuracyMessage::setHeaderTimestamp ( … )

This will set the message timestamp. [microseconds]

Parameters
in/out type description
in ps_timestamp In microseconds.
Returns
  • void

ImuAccuracyMessage::getHeaderSrcGuid ( ) const

This will get the message producer’s GUID.

Returns

ImuAccuracyMessage::setHeaderSrcGuid ( … )

This will set the message producer’s GUID.

Parameters
in/out type description
in ps_guid Message producer’s GUID.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptor ( ) const

This will get the standard sensor descriptor.

Returns

ImuAccuracyMessage::setSensorDescriptor ( … )

This will set the standard sensor descriptor.

Parameters
in/out type description
in SensorDescriptor & Standard sensor descriptor.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorId ( ) const

This will get the identifier.

In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means invalid.

Returns

ImuAccuracyMessage::setSensorDescriptorId ( … )

This will set the identifier. In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means invalid.

Parameters
in/out type description
in ps_identifier
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorType ( ) const

This will get the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means type not available.

Returns

ImuAccuracyMessage::setSensorDescriptorType ( … )

This will set the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means type not available.

Parameters
in/out type description
in ps_sensor_kind The sensor descriptor type.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorTransform ( ) const

This will get the transform that describes this data’s coordinate frame.

Returns

ImuAccuracyMessage::setSensorDescriptorTransform ( … )

This will set the transform that describes this data’s coordinate frame.

Parameters
in/out type description
in TransformStack & The transform that describes this data’s coordinate frame.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorTransformParentId ( ) const

This will get the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.

Returns

ImuAccuracyMessage::setSensorDescriptorTransformParentId ( … )

This will set the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.

Parameters
in/out type description
in ps_identifier The parent coordinate frame identifier.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorTransformTimestamp ( ) const

This will get the last updated timestamp of the parent, and/or any of its children transformations.

Returns

ImuAccuracyMessage::setSensorDescriptorTransformTimestamp ( … )

This will set the last updated timestamp of the parent, and/or any of its children transformations.

Parameters
in/out type description
in ps_timestamp The last update timestamp of the transform.
Returns
  • void

ImuAccuracyMessage::getSensorDescriptorTransformStack ( ) const

This will get the transformation stack that describes a PolySync transformation.

Returns

ImuAccuracyMessage::setSensorDescriptorTransformStack ( … )

This will set the transformation stack that describes a PolySync transformation.

Parameters
in/out type description
in std::vector<TransformDescriptor> & The transformation stack.
Returns
  • void

ImuAccuracyMessage::getTimestamp ( ) const

This will get the last updated timestamp. [UTC microseconds]

Returns

ImuAccuracyMessage::setTimestamp ( … )

This will set the last updated timestamp. [UTC microseconds]

Parameters
in/out type description
in ps_timestamp The last update timestamp.
Returns
  • void

ImuAccuracyMessage::getNativeTimestamp ( ) const

This will get the native timestamp associated with the last update. This is provided by some devices. Please check the format field for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

Returns

ImuAccuracyMessage::setNativeTimestamp ( … )

This will set the native timestamp associated with the last update. This is provided by some devices. Please check the format field for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

Parameters
in/out type description
in NativeTimestamp &
Returns
  • void

ImuAccuracyMessage::getNativeTimestampFormat ( ) const

Get timestamp format. PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

Returns
  • unsigned char

ImuAccuracyMessage::setNativeTimestampFormat ( … )

This will set the timestamp format. PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

Parameters
in/out type description
in unsigned char Timestamp format.
Returns
  • void

ImuAccuracyMessage::getNativeTimestampValue ( ) const

This will get the timestamp value.

Returns
  • unsigned long long

ImuAccuracyMessage::setNativeTimestampValue ( … )

This will set the timestamp value.

Parameters
in/out type description
in unsigned long long Timestamp value.
Returns
  • void

ImuAccuracyMessage::getVelocityAccuracy ( ) const

This will get the velocity accuracy. [meters/second] PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setVelocityAccuracy ( … )

This will set the velocity accuracy. [meters/second] PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available.

Parameters
in/out type description
in const std::array< double, 3 > & Velocity accuracy. [meters/second]
Returns
  • void

ImuAccuracyMessage::getOrientationAccuracy ( ) const

This will get the orientation roll-pitch-yaw accuracy. [xyz radians] PSYNC_ORIENTATION_NOT_AVAILABLE means given axis component not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setOrientationAccuracy ( … )

This will set the orientation roll-pitch-yaw accuracy. [xyz radians] PSYNC_ORIENTATION_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Orientation roll-pitch-yaw accuracy. [xyz radians]
Returns
  • void

ImuAccuracyMessage::getRotationRateBias ( ) const

This will get the rotation rate (gyroscope) bias.[xyz radians] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setRotationRateBias ( … )

This will set the rotation rate (gyroscope) bias.[xyz radians] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Rotation rate (gyroscope) bias. [xyz radians]
Returns
  • void

ImuAccuracyMessage::getRotationRateBiasAccuracy ( ) const

This will get the rotation rate (gyroscope) bias accuracy.[xyz radians] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setRotationRateBiasAccuracy ( … )

This will set the rotation rate (gyroscope) bias accuracy.[xyz radians] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Rotation rate (gyroscope) bias accuracy. [xyz radians]
Returns
  • void

ImuAccuracyMessage::getRotationRateScale ( ) const

This will get the rotation rate (gyroscope) scale factor. [xyz 1.0 == %100] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setRotationRateScale ( … )

This will set the rotation rate (gyroscope) scale factor. [xyz 1.0 == %100] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Rotation rate (gyroscope) scale factor. [xyz 1.0 == %100]
Returns
  • void

ImuAccuracyMessage::getRotationRateScaleAccuracy ( ) const

This will get the rotation rate (gyroscope) scale factor accuracy. [xyz 1.0 == %100] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setRotationRateScaleAccuracy ( … )

This will set the rotation rate (gyroscope) scale factor accuracy. [xyz 1.0 == %100] PSYNC_ROTATION_RATE_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Rotation rate (gyroscope) scale factor accuracy. [xyz 1.0 == %100]
Returns
  • void

ImuAccuracyMessage::getAccelerationBias ( ) const

This will get the accelerometer bias. [xyz meters/second^2] PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setAccelerationBias ( … )

This will set the accelerometer bias. [xyz meters/second^2] PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Accelerometer bias. [xyz meters/second^2]
Returns
  • void

ImuAccuracyMessage::setAccelerationBiasAccuracy ( ) const

This will get the accelerometer bias accuracy. [xyz meters/second^2] PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component is not available.

Returns
  • std::array< double, 3 >

ImuAccuracyMessage::setAccelerationBiasAccuracy ( … )

This will set the accelerometer bias accuracy. [xyz meters/second^2] PSYNC_ACCELERATION_NOT_AVAILABLE means given axis component is not available.

Parameters
in/out type description
in const std::array< double, 3 > & Accelerometer bias accuracy. [xyz meters/second^2]
Returns
  • void