BeoSubIMU Class Reference

Class for interfacing with the IMU. More...

#include <BeoSub/BeoSubIMU.H>

Inheritance diagram for BeoSubIMU:

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Collaboration diagram for BeoSubIMU:

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List of all members.

Public Member Functions
	BeoSubIMU (OptionManager &mgr, const std::string &descrName="IMU", const std::string &tagName="IMU", const char *dev="/dev/ttyS0")
	Initialize.
	~BeoSubIMU ()
	Destructor.
void	setListener (rutz::shared_ptr< BeoSubIMUListener > listener)
	Setup a listener that will be called each time new data is received.
float	getXaccel ()
	Get the current X acceleration.
float	getYaccel ()
	Get the current Y acceleration.
float	getZaccel ()
	Get the current Z acceleration.
Angle	getXvel ()
	Get the current X velocity.
Angle	getYvel ()
	Get the current Y velocity.
Angle	getZvel ()
	Get the current Z velocity.
void	run ()
Protected Member Functions
void	start2 ()
	get started
void	stop1 ()
	get stopped
float	accelConvert (int data)
float	rateConvert (int data)

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Detailed Description

Class for interfacing with the IMU.

This is an IMU. It sends X,Y,Z acceleration and X,Y,Z angular velocity

Definition at line 58 of file BeoSubIMU.H.

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Constructor & Destructor Documentation

BeoSubIMU::BeoSubIMU	(	OptionManager &	mgr,
		const std::string &	descrName = "IMU",
		const std::string &	tagName = "IMU",
		const char *	dev = "/dev/ttyS0"
	)

Initialize.

Definition at line 55 of file BeoSubIMU.C.

References ModelComponent::addSubComponent().

BeoSubIMU::~BeoSubIMU

(

)

Destructor.

Definition at line 82 of file BeoSubIMU.C.

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Member Function Documentation

float BeoSubIMU::getXaccel

(

)

Get the current X acceleration.

Definition at line 168 of file BeoSubIMU.C.

Angle BeoSubIMU::getXvel

(

)

Get the current X velocity.

Definition at line 195 of file BeoSubIMU.C.

float BeoSubIMU::getYaccel

(

)

Get the current Y acceleration.

Definition at line 177 of file BeoSubIMU.C.

Angle BeoSubIMU::getYvel

(

)

Get the current Y velocity.

Definition at line 204 of file BeoSubIMU.C.

float BeoSubIMU::getZaccel

(

)

Get the current Z acceleration.

Definition at line 186 of file BeoSubIMU.C.

Angle BeoSubIMU::getZvel

(

)

Get the current Z velocity.

Definition at line 213 of file BeoSubIMU.C.

void BeoSubIMU::setListener

(

rutz::shared_ptr< BeoSubIMUListener >

listener

)

Setup a listener that will be called each time new data is received.

Definition at line 78 of file BeoSubIMU.C.

void BeoSubIMU::start2

(

)

[protected, virtual]

get started

Reimplemented from ModelComponent.

Definition at line 67 of file BeoSubIMU.C.

void BeoSubIMU::stop1

(

)

[protected, virtual]

get stopped

Reimplemented from ModelComponent.

Definition at line 71 of file BeoSubIMU.C.

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

• src/BeoSub/BeoSubIMU.H
• src/BeoSub/BeoSubIMU.C