API Documentation

ImuMessage

The IMU message.

Arbitration key member(s): header.src_guid

ImuMessage::ImuMessage ( )

A default constructor.

ImuMessage::ImuMessage ( … )

A copy constructor.

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

ImuMessage::ImuMessage ( … )

The convenience constructor from a related type.

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

ImuMessage::~ImuMessage ( )

A default destructor.

ImuMessage::print ( … )

This will print internal values.

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

Returns

  • void

ImuMessage::get_ps_imu_msg ( ) const

This will provide convenient access to a related type.

Returns

ImuMessage::operator= ( … )

An assignment operator.

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

static ImuMessage::getName ( )

This will get the message name.

It is useful in functions requiring message names, such as getMessageTypeByName.

Returns
  • std::string

ImuMessage::getHeader ( ) const

This will get the PolySync message header.

Returns

ImuMessage::setHeader ( … )

This will set the PolySync message header.

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

ImuMessage::getHeaderType ( ) const

This will get the message type identifier.

Returns

ImuMessage::setHeaderType ( … )

This will set the message type identifier.

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

ImuMessage::getHeaderTimestamp ( ) const

This will get the message timestamp. [microseconds]

Returns

ImuMessage::setHeaderTimestamp ( … )

This will set the message timestamp. [microseconds]

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

ImuMessage::getHeaderSrcGuid ( ) const

This will get the message producer’s GUID.

Returns

ImuMessage::setHeaderSrcGuid ( … )

This will set the message producer’s GUID.

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

ImuMessage::getSensorDescriptor ( ) const

This will get the standard sensor descriptor.

Returns

ImuMessage::setSensorDescriptor ( … )

This will set the standard sensor descriptor.

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

ImuMessage::getSensorDescriptorId ( ) const

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

Returns

ImuMessage::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

ImuMessage::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

ImuMessage::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

ImuMessage::getSensorDescriptorTransform ( ) const

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

Returns

ImuMessage::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

ImuMessage::getSensorDescriptorTransformParentId ( ) const

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

Returns

ImuMessage::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

ImuMessage::getSensorDescriptorTransformTimestamp ( ) const

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

Returns

ImuMessage::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

ImuMessage::getSensorDescriptorTransformStack ( ) const

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

Returns

ImuMessage::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

ImuMessage::getTimestamp ( ) const

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

Returns

ImuMessage::setTimestamp ( … )

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

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

ImuMessage::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

ImuMessage::setNativeTimestamp ( … )

Set native timestamp associated with the last update. Provided by some devices. Check format field for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

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

ImuMessage::getNativeTimestampFormat ( ) const

This will get the timestamp format. PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means invalid.

Returns
  • unsigned char

ImuMessage::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

ImuMessage::getNativeTimestampValue ( ) const

This will get the timestamp value.

Returns
  • unsigned long long

ImuMessage::setNativeTimestampValue ( … )

This will set the timestamp value.

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

ImuMessage::getOrientation ( ) const

This will get the orientation quaternion. [xyzw quaternion] PSYNC_ORIENTATION_NOT_AVAILABLE means the given axis component is not available.

Returns
  • std::array< double, 4 >

ImuMessage::setOrientation ( … )

This will set the orientation quaternion. PSYNC_ORIENTATION_NOT_AVAILABLE means the given axis component is not available.

Parameters
in/out type description
in std::array< double, 4 > & Orientation quaternion. [xyzw quaternion]
Returns
  • void

ImuMessage::getRotationRate ( ) const

This will get the rotation rate. [xyz radians/second] PSYNC_ROTATION_RATE_NOT_AVAILABLE means the given axis component is not available.

Returns
  • std::array< double, 3 >

ImuMessage::setRotationRate ( … )

This will set the rotation rate. [xyz radians/second] PSYNC_ROTATION_RATE_NOT_AVAILABLE means the given axis component is not available.

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

ImuMessage::getVelocity ( ) const

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

Returns
  • std::array< double, 3 >

ImuMessage::setVelocity ( … )

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

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

ImuMessage::getAcceleration ( ) const

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

Returns
  • std::array< double, 3 >

ImuMessage::setAcceleration ( … )

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

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