IMU sensor output data where IMUOutput::Field is used to define the data available. More...

#include <IMUOutput.h>

Inheritance diagram for agxSensor::IMUOutput:

Public Types
enum	Field : int32_t { ACCELEROMETER_X_F64 , ACCELEROMETER_Y_F64 , ACCELEROMETER_Z_F64 , GYROSCOPE_X_F64 , GYROSCOPE_Y_F64 , GYROSCOPE_Z_F64 , MAGNETOMETER_X_F64 , MAGNETOMETER_Y_F64 , MAGNETOMETER_Z_F64 , SENSOR_0_X_F64 , SENSOR_0_Y_F64 , SENSOR_0_Z_F64 , SENSOR_1_X_F64 , SENSOR_1_Y_F64 , SENSOR_1_Z_F64 , SENSOR_2_X_F64 , SENSOR_2_Y_F64 , SENSOR_2_Z_F64 , SENSOR_3_X_F64 , SENSOR_3_Y_F64 , SENSOR_3_Z_F64 , SENSOR_4_X_F64 , SENSOR_4_Y_F64 , SENSOR_4_Z_F64 , SENSOR_5_X_F64 , SENSOR_5_Y_F64 , SENSOR_5_Z_F64 , SENSOR_6_X_F64 , SENSOR_6_Y_F64 , SENSOR_6_Z_F64 , SENSOR_7_X_F64 , SENSOR_7_Y_F64 , SENSOR_7_Z_F64 , SENSOR_8_X_F64 , SENSOR_8_Y_F64 , SENSOR_8_Z_F64 , SENSOR_9_X_F64 , SENSOR_9_Y_F64 , SENSOR_9_Z_F64 , SENSOR_MAX_X_F64 = ( ( ( 1 << 30 ) - 3 ) / 3) * 3 , SENSOR_MAX_Y_F64 = SENSOR_MAX_X_F64 + 1 , SENSOR_MAX_Z_F64 = SENSOR_MAX_X_F64 + 2 , NUM_FIELDS }

using	FieldVector = std::vector< Field >

Public Member Functions
	IMUOutput ()=default
	Default constructor.

IMUOutput &	add (Field field)
	Add new field.

template<Field... field>
void	build ()
	Add one or more fields, build a matching data structure.

virtual const BinaryOutputBuffer &	getData () override

virtual size_t	getElementSize () const override
	"Element size" is the summed data size of the currently added fields.

virtual bool	hasUnreadData (bool markAsRead=true) override

void	setPaddingValue (const agx::Real &value)
	Set value to use for padding when no underlying signal data can be found.

Public Member Functions inherited from agxSensor::SystemNode
	SystemNode (const SystemNode &)=delete
	Disallow direct copying of nodes.

virtual	~SystemNode ()=default

bool	addChild (SystemNode *child)
	Add unique child to this node.

virtual bool	addNotification ()
	Called when this system node has been added to a sensor environment.

bool	appendChild (SystemNode *child)
	Append child to vector of children, silently.

virtual void	cleanup ()=0
	The sensor environment is being put down, clean everything.

virtual void	complete ()
	Complete the execution of this system, finishing the integration forward in time.

bool	detachChild (SystemNode *child)
	Detach/erase child from vector of children, silently.

virtual bool	eraseAndConnect ()
	Erase this node from the tree and connect its children to the current parent of this node.

virtual void	execute (const CallbackData &data)
	Execute this system, integrating it `data.dt` forward in time.

template<typename T >
T *	findChild (bool recurse=true) const
	Find child of given type.

template<typename PredicateT >
SystemNode *	findChild (PredicateT pred, bool recurse=true) const
	Find child given predicate `pred`.

template<typename T >
T *	findParent () const

template<typename PredicateT >
SystemNode *	findParent (PredicateT pred) const
	Find parent given predicate.

template<typename T >
T *	getChild () const
	Searches children for a node of given type.

SystemNode *	getChild (size_t index) const

bool	getEnable () const

Environment *	getEnvironment () const

const agx::Name &	getName () const

size_t	getNumChildren () const

SystemNode *	getParent () const

SystemNode *	getRoot () const

bool	hasChild (const SystemNode *child, bool recurse=true) const

virtual bool	insertParent (SystemNode &parent)
	Inserts new parent to this node.

virtual bool	onAdd (agx::Referenced &instance)
	Called when an object has been added to the sensor environment.

virtual void	onChildAdded (SystemNode &child)
	Called when `child` has been added to this parent.

virtual void	onChildRemoved (SystemNode &child)
	Called when `child` has been removed from this parent.

virtual bool	onRemove (agx::Referenced &instance)
	Called when an object has been removed from the sensor environment.

bool	removeChild (SystemNode *child)
	Remove child from this node.

virtual void	removeNotification ()
	Called when this system node is being removed from a sensor environment.

virtual void	result (const CallbackData &data)
	If necessary assemble, and fetch results related to this system node after a step by `data.dt` has been completed.

void	setEnable (bool enable)
	Enable/disable this node.

void	setName (const agx::Name &name)
	Assign name to this node.

virtual void	synchronize (const CallbackData &data)
	Synchronization from the main thread.

virtual void	synchronizeGraphics (const agxRender::RenderManager &renderManager)
	At the very end of a step, synchronize any graphics related aspects of the system node.

template<typename VisitorT >
SystemNode *	visitBf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
void	visitChildren (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const SystemNode& child ).

template<typename VisitorT >
SystemNode *	visitChildrenBf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
SystemNode *	visitChildrenDf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using depth first traversal.

template<typename T , typename VisitorT >
void	visitChildrenOfType (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const T& child ).

template<typename VisitorT >
SystemNode *	visitDf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using depth first traversal.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Public Member Functions inherited from agxSensor::ISensorOutput
	ISensorOutput ()=default
	Default constructor.

virtual const BinaryOutputBuffer &	getData ()=0
	Returns access to the sensor output data.

virtual size_t	getElementSize () const =0
	"Element size" is the summed data size of the currently added sensor output fields.

virtual bool	hasUnreadData (bool markAsRead=true)=0

template<typename T >
BinaryOutputView< T >	view ()
	View over data.

Static Public Member Functions
static const char *	getFieldName (Field field)

static size_t	sizeOf (Field field)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Static Public Member Functions inherited from agxSensor::ISensorOutput
template<typename T >
static bool	verifySize (size_t elementSize)
	Checks whether sizeof(T) == elementSize and issues a warning if it is not.

Additional Inherited Members
Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

IMU sensor output data where IMUOutput::Field is used to define the data available.

It's possible to pack data into a custom type, e.g.,

struct MyIMUOutput { agx::Real accelerometer; agx::Real gyroscopeRoll, gyroscopePitch; }

IMUOutputRef output = new IMUOutput(); output->build<IMUOutput::ACCELEROMETER_Z_F64, IMUOutput::GYROSCOPE_X_F64, IMUOutput::GYROSCOPE_Y_F64>();

... // Run sensor

auto view = output->view<MyIMUOutput>(); for ( const MyIMUOutput& value : view ) ...

Definition at line 50 of file IMUOutput.h.

Member Typedef Documentation

◆ FieldVector

using agxSensor::IMUOutput::FieldVector = std::vector<Field>

Definition at line 119 of file IMUOutput.h.

Member Enumeration Documentation

◆ Field

enum agxSensor::IMUOutput::Field : int32_t

Enumerator
ACCELEROMETER_X_F64	1x 64-bit floating point accelerometer x-axis output.
ACCELEROMETER_Y_F64	1x 64-bit floating point accelerometer y-axis output.
ACCELEROMETER_Z_F64	1x 64-bit floating point accelerometer z-axis output.
GYROSCOPE_X_F64	1x 64-bit floating point gyroscope x-axis output.
GYROSCOPE_Y_F64	1x 64-bit floating point gyroscope y-axis output.
GYROSCOPE_Z_F64	1x 64-bit floating point gyroscope z-axis output.
MAGNETOMETER_X_F64	1x 64-bit floating point magnetometer x-axis output.
MAGNETOMETER_Y_F64	1x 64-bit floating point magnetometer y-axis output.
MAGNETOMETER_Z_F64	1x 64-bit floating point magnetometer z-axis output.
SENSOR_0_X_F64	1x 64-bit floating point x-axis output from the first sensor in the IMU.
SENSOR_0_Y_F64	1x 64-bit floating point y-axis output from the first sensor in the IMU.
SENSOR_0_Z_F64	1x 64-bit floating point z-axis output from the first sensor in the IMU.
SENSOR_1_X_F64	1x 64-bit floating point x-axis output from the second sensor in the IMU.
SENSOR_1_Y_F64	1x 64-bit floating point y-axis output from the second sensor in the IMU.
SENSOR_1_Z_F64	1x 64-bit floating point z-axis output from the second sensor in the IMU.
SENSOR_2_X_F64
SENSOR_2_Y_F64
SENSOR_2_Z_F64
SENSOR_3_X_F64
SENSOR_3_Y_F64
SENSOR_3_Z_F64
SENSOR_4_X_F64
SENSOR_4_Y_F64
SENSOR_4_Z_F64
SENSOR_5_X_F64
SENSOR_5_Y_F64
SENSOR_5_Z_F64
SENSOR_6_X_F64
SENSOR_6_Y_F64
SENSOR_6_Z_F64
SENSOR_7_X_F64
SENSOR_7_Y_F64
SENSOR_7_Z_F64
SENSOR_8_X_F64
SENSOR_8_Y_F64
SENSOR_8_Z_F64
SENSOR_9_X_F64
SENSOR_9_Y_F64
SENSOR_9_Z_F64
SENSOR_MAX_X_F64	1x 64-bit floating point x-axis output from the last possibly added sensor.
SENSOR_MAX_Y_F64	1x 64-bit floating point y-axis output from the last possibly added sensor.
SENSOR_MAX_Z_F64	1x 64-bit floating point z-axis output from the last possibly added sensor.
NUM_FIELDS	(Number of fields indicator)

Definition at line 53 of file IMUOutput.h.

Constructor & Destructor Documentation

◆ IMUOutput()

agxSensor::IMUOutput::IMUOutput ( )

default

Default constructor.

Member Function Documentation

◆ add()

IMUOutput & agxSensor::IMUOutput::add ( Field field )

Add new field.

Parameters

field - field to add

Returns: reference to this IMU output

Referenced by build().

◆ build()

template<IMUOutput::Field... field>

void agxSensor::IMUOutput::build

Add one or more fields, build a matching data structure.

Definition at line 199 of file IMUOutput.h.

References add().

◆ getData()

virtual const BinaryOutputBuffer & agxSensor::IMUOutput::getData ( )

overridevirtual

Returns: IMU output data as a pure binary buffer

Implements agxSensor::ISensorOutput.

◆ getElementSize()

virtual size_t agxSensor::IMUOutput::getElementSize ( ) const

overridevirtual

"Element size" is the summed data size of the currently added fields.

Returns: the current, summed, data size of the added fields

Implements agxSensor::ISensorOutput.

◆ getFieldName()

static const char * agxSensor::IMUOutput::getFieldName ( Field field )

static

Parameters

field - data field

Returns: name of the given field

◆ hasUnreadData()

virtual bool agxSensor::IMUOutput::hasUnreadData ( bool markAsRead = true )

overridevirtual

Parameters

markAsRead - true to reset unread state, resulting in hasUnreadData returning false until new data is available. False to not mark the current data as read.

Returns: true when the data has been updated but not read/used/fetched by the user, false if the data has been read

Implements agxSensor::ISensorOutput.

◆ setPaddingValue()

void agxSensor::IMUOutput::setPaddingValue ( const agx::Real & value )

Set value to use for padding when no underlying signal data can be found.

Parameters

value - value to use when padding in case of missing underlying signal

◆ sizeOf()

static size_t agxSensor::IMUOutput::sizeOf ( Field field )

static

Parameters

field - data field

Returns: data size of the field in bytes

The documentation for this class was generated from the following file:

IMUOutput.h

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ FieldVector

Member Enumeration Documentation

◆ Field

Constructor & Destructor Documentation

◆ IMUOutput()

Member Function Documentation

◆ add()

◆ build()

◆ getData()

◆ getElementSize()

◆ getFieldName()

◆ hasUnreadData()

◆ setPaddingValue()

◆ sizeOf()