BeoSubIMU Class Reference

#include <BeoSub/BeoSubIMU.H>

Inheritance diagram for BeoSubIMU:

[legend]Collaboration diagram for BeoSubIMU:

[legend]List of all members.

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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.

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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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. References IMU_run().

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

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