xsens::Packet Class Reference

A structure containing MT data + timestamp and formatting information. More...

#include <Robots/SeaBeeIII/IMUDataServer/cmtpacket.h>

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List of all members.

Classes

struct  PacketInfo
 Contains information about data in the packet and the format of that data. More...

Public Member Functions

 Packet (uint16_t items, bool xbus)
 Packet (const Packet &pack)
void operator= (const Packet &pack)
bool setDataFormat (const CmtDataFormat &format, const uint16_t index=0)
bool setDataFormat (const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index=0)
CmtDataFormat getDataFormat (const uint16_t index=0) const
void setXbus (bool xbus, bool convert=false)
bool getXbus (void) const
uint16_t getDataSize (const uint16_t index=0) const
 Return the data size.
uint16_t getFPValueSize (const uint16_t index) const
 Return the floating/fixed point value size.
CmtShortVector getRawAcc (const uint16_t index=0) const
 Return the Raw Accelerometer component of a data item.
bool containsRawAcc (const uint16_t index=0) const
 Check if data item contains Raw Accelerometer data.
bool updateRawAcc (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Accelerometer data for the item.
CmtShortVector getRawGyr (const uint16_t index=0) const
 Return the Raw Gyroscope component of a data item.
bool containsRawGyr (const uint16_t index=0) const
 Check if data item contains Raw Gyroscope data.
bool updateRawGyr (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Gyroscope data for the item.
CmtShortVector getRawMag (const uint16_t index=0) const
 Return the Raw Magnetometer component of a data item.
bool containsRawMag (const uint16_t index=0) const
 Check if data item contains Raw Magnetometer data.
bool updateRawMag (const CmtShortVector &vec, const uint16_t index=0)
 Add/update Raw Magnetometer data for the item.
uint16_t getRawTemp (const uint16_t index=0) const
 Return the Raw Temperature component of a data item.
bool containsRawTemp (const uint16_t index=0) const
 Check if data item contains Raw Temperature data.
bool updateRawTemp (uint16_t temp, const uint16_t index=0)
 Add/update Raw Temperature data for the item.
CmtRawData getRawData (const uint16_t index=0) const
 Return the Raw Data component of a data item.
bool containsRawData (const uint16_t index=0) const
 Check if data item contains Raw Data.
bool updateRawData (const CmtRawData &data, const uint16_t index=0)
 Add/update Raw Data for the item.
CmtGpsPvtData getGpsPvtData (const uint16_t index=0) const
 Return the Gps PVT data component of a data item.
bool containsGpsPvtData (const uint16_t index=0) const
 Check if data item contains Gps PVT Data.
bool updateGpsPvtData (const CmtGpsPvtData &data, const uint16_t index=0)
 Add/update Gps PVT Data for the item.
CmtRawPressureData getRawPressureData (const uint16_t index=0) const
 Return the Raw Pressure Data component of a data item.
bool containsRawPressureData (const uint16_t index=0) const
 Check if data item contains Raw Pressure Data.
bool updateRawPressureData (const CmtRawPressureData &data, const uint16_t index=0)
 Add/update Raw Pressure Data for the item.
double getTemp (const uint16_t index=0) const
 Return the Temperature component of a data item.
bool containsTemp (const uint16_t index=0) const
 Check if data item contains Temperature data.
bool updateTemp (const double &temp, const uint16_t index=0)
 Add/update Calibrated Accelerometer data for the item.
CmtVector getCalAcc (const uint16_t index=0) const
 Return the Calibrated Accelerometer component of a data item.
bool containsCalAcc (const uint16_t index=0) const
 Check if data item contains Calibrated Accelerometer data.
bool updateCalAcc (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Accelerometer data for the item.
CmtVector getCalGyr (const uint16_t index=0) const
 Return the Calibrated Gyroscope component of a data item.
bool containsCalGyr (const uint16_t index=0) const
 Check if data item contains Calibrated Gyroscope data.
bool updateCalGyr (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Gyroscope data for the item.
CmtVector getCalMag (const uint16_t index=0) const
 Return the Calibrated Magnetometer component of a data item.
bool containsCalMag (const uint16_t index=0) const
 Check if data item contains Calibrated Magnetometer data.
bool updateCalMag (const CmtVector &vec, const uint16_t index=0)
 Add/update Calibrated Magnetometer data for the item.
CmtCalData getCalData (const uint16_t index=0) const
 Return the Calibrated Data component of a data item.
bool containsCalData (const uint16_t index=0) const
 Check if data item contains Calibrated Data.
bool updateCalData (const CmtCalData &data, const uint16_t index=0)
 Add/update Calibrated Data for the item.
CmtQuat getOriQuat (const uint16_t index=0) const
 Return the Orientation component of a data item as a Quaternion.
bool containsOriQuat (const uint16_t index=0) const
 Check if data item contains Quaternion Orientation data.
bool updateOriQuat (const CmtQuat &data, const uint16_t index=0)
 Add/update Quaternion Orientation data for the item.
CmtEuler getOriEuler (const uint16_t index=0) const
 Return the Orientation component of a data item as Euler angles.
bool containsOriEuler (const uint16_t index=0) const
 Check if data item contains Euler Orientation data.
bool updateOriEuler (const CmtEuler &data, const uint16_t index=0)
 Add/update Euler Orientation data for the item.
CmtMatrix getOriMatrix (const uint16_t index=0) const
 Return the Orientation component of a data item as an Orientation Matrix.
bool containsOriMatrix (const uint16_t index=0) const
 Check if data item contains Matrix Orientation data.
bool updateOriMatrix (const CmtMatrix &data, const uint16_t index=0)
 Add/update Matrix Orientation data for the item.
bool containsOri (const uint16_t index=0) const
 Check if data item contains Orientation Data of any kind.
CmtAnalogInData getAnalogIn1 (const uint16_t index=0) const
 Return the AnalogIn 1 component of a data item.
bool containsAnalogIn1 (const uint16_t index=0) const
 Check if data item contains AnalogIn 1.
bool updateAnalogIn1 (const CmtAnalogInData &data, const uint16_t index=0)
 Add/update AnalogIn 1 for the item.
CmtAnalogInData getAnalogIn2 (const uint16_t index=0) const
 Return the AnalogIn 2 component of a data item.
bool containsAnalogIn2 (const uint16_t index=0) const
 Check if data item contains AnalogIn 2.
bool updateAnalogIn2 (const CmtAnalogInData &data, const uint16_t index=0)
 Add/update AnalogIn 2 for the item.
CmtVector getPositionLLA (const uint16_t index=0) const
 Return the Position Lat Lon Alt component of a data item.
bool containsPositionLLA (const uint16_t index=0) const
 Check if data item contains Position Lat Lon Alt.
bool updatePositionLLA (const CmtVector &data, const uint16_t index=0)
 Add/update Position Lat Lon Alt for the item.
CmtVector getVelocity (const uint16_t index=0) const
 Return the Velocity component of a data item.
bool containsVelocity (const uint16_t index=0) const
 Check if data item contains Velocity.
bool updateVelocity (const CmtVector &data, const uint16_t index=0)
 Add/update Velocity for the item.
uint8_t getStatus (const uint16_t index=0) const
 Return the Status component of a data item.
bool containsStatus (const uint16_t index=0) const
 Check if data item contains Status.
bool updateStatus (const uint8_t data, const uint16_t index=0)
 Add/update Status information for the item.
uint16_t getSampleCounter (const uint16_t index=0) const
 Return the Sample Counter component of the packet.
bool containsSampleCounter (const uint16_t index=0) const
 Check if data item contains Sample Counter.
bool updateSampleCounter (const uint16_t counter, const uint16_t index=0)
 Add/update Sample Counter for all items.
CmtUtcTime getUtcTime (const uint16_t index=0) const
 Return the UTC Time component of the packet.
bool containsUtcTime (const uint16_t index=0) const
 Check if data item contains UTC Time.
bool updateUtcTime (const CmtUtcTime &data, const uint16_t index=0)
 Add/update UTC Time for all items.
CmtTimeStamp getRtc (const uint16_t index=0) const
 Return the RTC of the packet.
CmtVector getAccG (const uint16_t index=0) const
 Return the XKF-3 Acc-G component of the packet.
bool containsAccG (const uint16_t index=0) const
 Check if data item contains XKF-3 Acc-G data.
bool updateAccG (const CmtVector &g, const uint16_t index=0)
 Add/update XKF-3 Acc-G data for the item.

Public Attributes

uint16_t m_itemCount
 The number of data items in the message.
Message m_msg
 The message.
TimeStamp m_rtc
 Sample time in ms, based on the sample counter.
TimeStamp m_toa
 Time of arrival.

Protected Attributes

struct xsens::Packet::PacketInfo * m_infoList
 Contains information about data in the packet and the format of that data.
CmtDataFormat * m_formatList
 A list of the formats of the data items.
bool m_xm
 Indicates that xbus-formatting is used.

Friends

class Cmt4

Detailed Description

A structure containing MT data + timestamp and formatting information.

Definition at line 42 of file cmtpacket.h.

Member Function Documentation

bool xsens::Packet::containsAccG ( const uint16_t  index = 0  )  const

Check if data item contains XKF-3 Acc-G data.

Definition at line 1423 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAccG().

bool xsens::Packet::containsAnalogIn1 ( const uint16_t  index = 0  )  const

Check if data item contains AnalogIn 1.

Definition at line 1140 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn1().

bool xsens::Packet::containsAnalogIn2 ( const uint16_t  index = 0  )  const

Check if data item contains AnalogIn 2.

Definition at line 1174 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getAnalogIn2().

bool xsens::Packet::containsCalAcc ( const uint16_t  index = 0  )  const

Check if data item contains Calibrated Accelerometer data.

Definition at line 790 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalAcc().

bool xsens::Packet::containsCalData ( const uint16_t  index = 0  )  const

Check if data item contains Calibrated Data.

Definition at line 934 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalData().

bool xsens::Packet::containsCalGyr ( const uint16_t  index = 0  )  const

Check if data item contains Calibrated Gyroscope data.

Definition at line 832 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalGyr().

bool xsens::Packet::containsCalMag ( const uint16_t  index = 0  )  const

Check if data item contains Calibrated Magnetometer data.

Definition at line 874 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getCalMag().

bool xsens::Packet::containsGpsPvtData ( const uint16_t  index = 0  )  const

Check if data item contains Gps PVT Data.

Definition at line 648 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getGpsPvtData().

bool xsens::Packet::containsOri ( const uint16_t  index = 0  )  const

Check if data item contains Orientation Data of any kind.

Definition at line 1119 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

bool xsens::Packet::containsOriEuler ( const uint16_t  index = 0  )  const

Check if data item contains Euler Orientation data.

Definition at line 1036 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriEuler().

bool xsens::Packet::containsOriMatrix ( const uint16_t  index = 0  )  const

Check if data item contains Matrix Orientation data.

Definition at line 1085 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriMatrix().

bool xsens::Packet::containsOriQuat ( const uint16_t  index = 0  )  const

Check if data item contains Quaternion Orientation data.

Definition at line 989 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getOriQuat().

bool xsens::Packet::containsPositionLLA ( const uint16_t  index = 0  )  const

Check if data item contains Position Lat Lon Alt.

Definition at line 1209 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by IMUDataServer::evolve(), and getPositionLLA().

bool xsens::Packet::containsRawAcc ( const uint16_t  index = 0  )  const

Check if data item contains Raw Accelerometer data.

Definition at line 444 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawAcc().

bool xsens::Packet::containsRawData ( const uint16_t  index = 0  )  const

Check if data item contains Raw Data.

Definition at line 590 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawData().

bool xsens::Packet::containsRawGyr ( const uint16_t  index = 0  )  const

Check if data item contains Raw Gyroscope data.

Definition at line 480 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawGyr().

bool xsens::Packet::containsRawMag ( const uint16_t  index = 0  )  const

Check if data item contains Raw Magnetometer data.

Definition at line 516 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawMag().

bool xsens::Packet::containsRawPressureData ( const uint16_t  index = 0  )  const

Check if data item contains Raw Pressure Data.

Definition at line 711 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawPressureData().

bool xsens::Packet::containsRawTemp ( const uint16_t  index = 0  )  const

Check if data item contains Raw Temperature data.

Definition at line 550 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getRawTemp().

bool xsens::Packet::containsSampleCounter ( const uint16_t  index = 0  )  const

Check if data item contains Sample Counter.

Definition at line 1324 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getSampleCounter().

bool xsens::Packet::containsStatus ( const uint16_t  index = 0  )  const

Check if data item contains Status.

Definition at line 1291 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getStatus().

bool xsens::Packet::containsTemp ( const uint16_t  index = 0  )  const

Check if data item contains Temperature data.

Definition at line 749 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getTemp().

bool xsens::Packet::containsUtcTime ( const uint16_t  index = 0  )  const

Check if data item contains UTC Time.

Definition at line 1365 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getUtcTime().

bool xsens::Packet::containsVelocity ( const uint16_t  index = 0  )  const

Check if data item contains Velocity.

Definition at line 1252 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), and m_infoList.

Referenced by getVelocity().

CmtVector xsens::Packet::getAccG ( const uint16_t  index = 0  )  const

Return the XKF-3 Acc-G component of the packet.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1413 of file cmtpacket.cpp.

References containsAccG(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

CmtAnalogInData xsens::Packet::getAnalogIn1 ( const uint16_t  index = 0  )  const

Return the AnalogIn 1 component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1132 of file cmtpacket.cpp.

References containsAnalogIn1(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtAnalogInData xsens::Packet::getAnalogIn2 ( const uint16_t  index = 0  )  const

Return the AnalogIn 2 component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1166 of file cmtpacket.cpp.

References containsAnalogIn2(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtVector xsens::Packet::getCalAcc ( const uint16_t  index = 0  )  const

Return the Calibrated Accelerometer component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 781 of file cmtpacket.cpp.

References containsCalAcc(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

CmtCalData xsens::Packet::getCalData ( const uint16_t  index = 0  )  const

Return the Calibrated Data component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 907 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, containsCalData(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

Referenced by IMUDataServer::evolve().

CmtVector xsens::Packet::getCalGyr ( const uint16_t  index = 0  )  const

Return the Calibrated Gyroscope component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 823 of file cmtpacket.cpp.

References containsCalGyr(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

CmtVector xsens::Packet::getCalMag ( const uint16_t  index = 0  )  const

Return the Calibrated Magnetometer component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 865 of file cmtpacket.cpp.

References containsCalMag(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

uint16_t xsens::Packet::getDataSize ( const uint16_t  index = 0  )  const

Return the data size.

Parameters:
index The index of the item of which the size should be returned.

Definition at line 170 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getFPValueSize(), m_formatList, m_infoList, m_itemCount, and m_xm.

Referenced by containsAccG(), containsAnalogIn1(), containsAnalogIn2(), containsCalAcc(), containsCalData(), containsCalGyr(), containsCalMag(), containsGpsPvtData(), containsOri(), containsOriEuler(), containsOriMatrix(), containsOriQuat(), containsPositionLLA(), containsRawAcc(), containsRawData(), containsRawGyr(), containsRawMag(), containsRawPressureData(), containsRawTemp(), containsSampleCounter(), containsStatus(), containsTemp(), containsUtcTime(), containsVelocity(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateGpsPvtData(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGyr(), updateRawMag(), updateRawPressureData(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), updateUtcTime(), and updateVelocity().

uint16_t xsens::Packet::getFPValueSize ( const uint16_t  index  )  const

Return the floating/fixed point value size.

Parameters:
index The index of the item whose fp size should be returned.

Definition at line 144 of file cmtpacket.cpp.

References m_formatList.

Referenced by getDataSize(), getOriMatrix(), updateAccG(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateTemp(), and updateVelocity().

CmtGpsPvtData xsens::Packet::getGpsPvtData ( const uint16_t  index = 0  )  const

Return the Gps PVT data component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 622 of file cmtpacket.cpp.

References containsGpsPvtData(), xsens::Message::getDataByte(), xsens::Message::getDataLong(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtEuler xsens::Packet::getOriEuler ( const uint16_t  index = 0  )  const

Return the Orientation component of a data item as Euler angles.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1027 of file cmtpacket.cpp.

References containsOriEuler(), xsens::Message::getDataFPValue(), m_infoList, m_msg, and CmtEuler::m_roll.

Referenced by IMUDataServer::evolve().

CmtMatrix xsens::Packet::getOriMatrix ( const uint16_t  index = 0  )  const

Return the Orientation component of a data item as an Orientation Matrix.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1069 of file cmtpacket.cpp.

References containsOriMatrix(), xsens::Message::getDataFPValue(), getFPValueSize(), m_infoList, and m_msg.

Referenced by IMUDataServer::evolve().

CmtQuat xsens::Packet::getOriQuat ( const uint16_t  index = 0  )  const

Return the Orientation component of a data item as a Quaternion.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 979 of file cmtpacket.cpp.

References containsOriQuat(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

Referenced by IMUDataServer::evolve().

CmtVector xsens::Packet::getPositionLLA ( const uint16_t  index = 0  )  const

Return the Position Lat Lon Alt component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1200 of file cmtpacket.cpp.

References containsPositionLLA(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

CmtShortVector xsens::Packet::getRawAcc ( const uint16_t  index = 0  )  const

Return the Raw Accelerometer component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 435 of file cmtpacket.cpp.

References containsRawAcc(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtRawData xsens::Packet::getRawData ( const uint16_t  index = 0  )  const

Return the Raw Data component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 576 of file cmtpacket.cpp.

References containsRawData(), xsens::Message::getDataBuffer(), m_infoList, and m_msg.

CmtShortVector xsens::Packet::getRawGyr ( const uint16_t  index = 0  )  const

Return the Raw Gyroscope component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 471 of file cmtpacket.cpp.

References containsRawGyr(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtShortVector xsens::Packet::getRawMag ( const uint16_t  index = 0  )  const

Return the Raw Magnetometer component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 507 of file cmtpacket.cpp.

References containsRawMag(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtRawPressureData xsens::Packet::getRawPressureData ( const uint16_t  index = 0  )  const

Return the Raw Pressure Data component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 699 of file cmtpacket.cpp.

References containsRawPressureData(), xsens::Message::getDataByte(), xsens::Message::getDataShort(), m_infoList, and m_msg.

uint16_t xsens::Packet::getRawTemp ( const uint16_t  index = 0  )  const

Return the Raw Temperature component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 543 of file cmtpacket.cpp.

References containsRawTemp(), xsens::Message::getDataShort(), m_infoList, and m_msg.

TimeStamp xsens::Packet::getRtc ( const uint16_t  index = 0  )  const

Return the RTC of the packet.

Parameters:
index The index of the item of which the data should be returned. (ignored)

Definition at line 1405 of file cmtpacket.cpp.

References m_rtc.

uint16_t xsens::Packet::getSampleCounter ( const uint16_t  index = 0  )  const

Return the Sample Counter component of the packet.

Parameters:
index The index of the item of which the data should be returned. (ignored)

Definition at line 1318 of file cmtpacket.cpp.

References containsSampleCounter(), xsens::Message::getDataShort(), m_infoList, and m_msg.

Referenced by xsens::Cmt3::fillRtc().

uint8_t xsens::Packet::getStatus ( const uint16_t  index = 0  )  const

Return the Status component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1285 of file cmtpacket.cpp.

References containsStatus(), xsens::Message::getDataByte(), m_infoList, and m_msg.

double xsens::Packet::getTemp ( const uint16_t  index = 0  )  const

Return the Temperature component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 742 of file cmtpacket.cpp.

References containsTemp(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

Referenced by IMUDataServer::evolve().

CmtUtcTime xsens::Packet::getUtcTime ( const uint16_t  index = 0  )  const

Return the UTC Time component of the packet.

Parameters:
index The index of the item of which the data should be returned. (ignored)

Definition at line 1350 of file cmtpacket.cpp.

References containsUtcTime(), xsens::Message::getDataByte(), xsens::Message::getDataLong(), xsens::Message::getDataShort(), m_infoList, and m_msg.

CmtVector xsens::Packet::getVelocity ( const uint16_t  index = 0  )  const

Return the Velocity component of a data item.

Parameters:
index The index of the item of which the data should be returned.

Definition at line 1242 of file cmtpacket.cpp.

References containsVelocity(), xsens::Message::getDataFPValue(), m_infoList, and m_msg.

bool xsens::Packet::updateAccG ( const CmtVector &  g,
const uint16_t  index = 0 
)

Add/update XKF-3 Acc-G data for the item.

Definition at line 1431 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateAnalogIn1 ( const CmtAnalogInData &  data,
const uint16_t  index = 0 
)

Add/update AnalogIn 1 for the item.

Definition at line 1148 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateAnalogIn2 ( const CmtAnalogInData &  data,
const uint16_t  index = 0 
)

Add/update AnalogIn 2 for the item.

Definition at line 1182 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateCalAcc ( const CmtVector &  vec,
const uint16_t  index = 0 
)

Add/update Calibrated Accelerometer data for the item.

Definition at line 798 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateCalData ( const CmtCalData &  data,
const uint16_t  index = 0 
)

Add/update Calibrated Data for the item.

Definition at line 942 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateCalGyr ( const CmtVector &  vec,
const uint16_t  index = 0 
)

Add/update Calibrated Gyroscope data for the item.

Definition at line 840 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateCalMag ( const CmtVector &  vec,
const uint16_t  index = 0 
)

Add/update Calibrated Magnetometer data for the item.

Definition at line 882 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateGpsPvtData ( const CmtGpsPvtData &  data,
const uint16_t  index = 0 
)

Add/update Gps PVT Data for the item.

Definition at line 656 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), xsens::Message::setDataByte(), xsens::Message::setDataLong(), and xsens::Message::setDataShort().

bool xsens::Packet::updateOriEuler ( const CmtEuler &  data,
const uint16_t  index = 0 
)

Add/update Euler Orientation data for the item.

Definition at line 1044 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, CmtEuler::m_roll, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateOriMatrix ( const CmtMatrix &  data,
const uint16_t  index = 0 
)

Add/update Matrix Orientation data for the item.

Definition at line 1093 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateOriQuat ( const CmtQuat &  data,
const uint16_t  index = 0 
)

Add/update Quaternion Orientation data for the item.

Definition at line 997 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_formatList, m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updatePositionLLA ( const CmtVector &  data,
const uint16_t  index = 0 
)

Add/update Position Lat Lon Alt for the item.

Definition at line 1217 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateRawAcc ( const CmtShortVector &  vec,
const uint16_t  index = 0 
)

Add/update Raw Accelerometer data for the item.

Definition at line 452 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateRawData ( const CmtRawData &  data,
const uint16_t  index = 0 
)

Add/update Raw Data for the item.

Definition at line 598 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateRawGyr ( const CmtShortVector &  vec,
const uint16_t  index = 0 
)

Add/update Raw Gyroscope data for the item.

Definition at line 488 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateRawMag ( const CmtShortVector &  vec,
const uint16_t  index = 0 
)

Add/update Raw Magnetometer data for the item.

Definition at line 524 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateRawPressureData ( const CmtRawPressureData &  data,
const uint16_t  index = 0 
)

Add/update Raw Pressure Data for the item.

Definition at line 719 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), xsens::Message::setDataByte(), and xsens::Message::setDataShort().

bool xsens::Packet::updateRawTemp ( uint16_t  temp,
const uint16_t  index = 0 
)

Add/update Raw Temperature data for the item.

Definition at line 558 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateSampleCounter ( const uint16_t  counter,
const uint16_t  index = 0 
)

Add/update Sample Counter for all items.

Definition at line 1332 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataShort().

bool xsens::Packet::updateStatus ( const uint8_t  data,
const uint16_t  index = 0 
)

Add/update Status information for the item.

Definition at line 1299 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataByte().

bool xsens::Packet::updateTemp ( const double &  temp,
const uint16_t  index = 0 
)

Add/update Calibrated Accelerometer data for the item.

Definition at line 757 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

bool xsens::Packet::updateUtcTime ( const CmtUtcTime &  data,
const uint16_t  index = 0 
)

Add/update UTC Time for all items.

Definition at line 1373 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), m_infoList, m_msg, xsens::Message::resizeData(), xsens::Message::setDataByte(), xsens::Message::setDataLong(), and xsens::Message::setDataShort().

bool xsens::Packet::updateVelocity ( const CmtVector &  data,
const uint16_t  index = 0 
)

Add/update Velocity for the item.

Definition at line 1260 of file cmtpacket.cpp.

References CMT_DATA_ITEM_NOT_AVAILABLE, getDataSize(), xsens::Message::getDataSize(), getFPValueSize(), m_infoList, m_msg, xsens::Message::resizeData(), and xsens::Message::setDataFPValue().

Member Data Documentation

CmtDataFormat* xsens::Packet::m_formatList [protected]

A list of the formats of the data items.

Definition at line 96 of file cmtpacket.h.

Referenced by getDataSize(), getFPValueSize(), and updateOriQuat().

struct xsens::Packet::PacketInfo* xsens::Packet::m_infoList [protected]

Contains information about data in the packet and the format of that data.

Referenced by containsAccG(), containsAnalogIn1(), containsAnalogIn2(), containsCalAcc(), containsCalData(), containsCalGyr(), containsCalMag(), containsGpsPvtData(), containsOri(), containsOriEuler(), containsOriMatrix(), containsOriQuat(), containsPositionLLA(), containsRawAcc(), containsRawData(), containsRawGyr(), containsRawMag(), containsRawPressureData(), containsRawTemp(), containsSampleCounter(), containsStatus(), containsTemp(), containsUtcTime(), containsVelocity(), getAccG(), getAnalogIn1(), getAnalogIn2(), getCalAcc(), getCalData(), getCalGyr(), getCalMag(), getDataSize(), getGpsPvtData(), getOriEuler(), getOriMatrix(), getOriQuat(), getPositionLLA(), getRawAcc(), getRawData(), getRawGyr(), getRawMag(), getRawPressureData(), getRawTemp(), getSampleCounter(), getStatus(), getTemp(), getUtcTime(), getVelocity(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateGpsPvtData(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGyr(), updateRawMag(), updateRawPressureData(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), updateUtcTime(), and updateVelocity().

uint16_t xsens::Packet::m_itemCount

The number of data items in the message.

Definition at line 100 of file cmtpacket.h.

Referenced by getDataSize(), xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

Message xsens::Packet::m_msg

The message.

Definition at line 101 of file cmtpacket.h.

Referenced by getAccG(), getAnalogIn1(), getAnalogIn2(), getCalAcc(), getCalData(), getCalGyr(), getCalMag(), getGpsPvtData(), getOriEuler(), getOriMatrix(), getOriQuat(), getPositionLLA(), getRawAcc(), getRawData(), getRawGyr(), getRawMag(), getRawPressureData(), getRawTemp(), getSampleCounter(), getStatus(), getTemp(), getUtcTime(), getVelocity(), xsens::Cmt3::readDataPacket(), updateAccG(), updateAnalogIn1(), updateAnalogIn2(), updateCalAcc(), updateCalData(), updateCalGyr(), updateCalMag(), updateGpsPvtData(), updateOriEuler(), updateOriMatrix(), updateOriQuat(), updatePositionLLA(), updateRawAcc(), updateRawData(), updateRawGyr(), updateRawMag(), updateRawPressureData(), updateRawTemp(), updateSampleCounter(), updateStatus(), updateTemp(), updateUtcTime(), updateVelocity(), and xsens::Cmt3::waitForDataMessage().

TimeStamp xsens::Packet::m_rtc

Sample time in ms, based on the sample counter.

Definition at line 102 of file cmtpacket.h.

Referenced by xsens::Cmt3::fillRtc(), and getRtc().

TimeStamp xsens::Packet::m_toa

Time of arrival.

Definition at line 103 of file cmtpacket.h.

Referenced by xsens::Cmt3::fillRtc(), xsens::Cmt3::readDataPacket(), and xsens::Cmt3::waitForDataMessage().

bool xsens::Packet::m_xm [protected]

Indicates that xbus-formatting is used.

Definition at line 97 of file cmtpacket.h.

Referenced by getDataSize().

The documentation for this class was generated from the following files:
Generated on Sun May 8 08:44:46 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3