<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>GearBox Project</title> <link rel="icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link rel="shortcut icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> <!-- Google Analytics --> <script type="text/javascript"> var gaJsHost = (("https:" == document.location.protocol) ? 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class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_ecd2e0ae7771ca42ec0b8bcca2f60ddb.html">gbxnovatelacfr</a> » <a class="el" href="dir_b858eda436958a55ca0a86872cd7f538.html">gbxnovatelutilacfr</a> </div> </div> <div class="contents"> <h1>imudecoder.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> <a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span> <a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span> <a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Michael Moser</span> <a name="l00005"></a>00005 <span class="comment"> *</span> <a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span> <a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span> <a name="l00008"></a>00008 <span class="comment"> *</span> <a name="l00009"></a>00009 <span class="comment"> */</span> <a name="l00010"></a>00010 <span class="preprocessor">#ifndef GBX_NOVATEL_IMUDECODER_H</span> <a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#define GBX_NOVATEL_IMUDECODER_H</span> <a name="l00012"></a>00012 <span class="preprocessor"></span> <a name="l00013"></a>00013 <span class="preprocessor">#include <stdint.h></span> <a name="l00014"></a>00014 <span class="preprocessor">#include <string></span> <a name="l00015"></a>00015 <span class="keyword">namespace </span>gbxnovatelutilacfr{ <a name="l00016"></a>00016 <span class="comment">//the novatel span system supports different IMUs, with different status bit-fields and different conversion factors</span> <a name="l00017"></a>00017 <a name="l00018"></a>00018 <span class="comment">//yield [rad]</span> <a name="l00019"></a>00019 <span class="keyword">const</span> <span class="keywordtype">double</span> GyroConstantHg1700Ag11Ag58 = 1.16415321826934814453e-10; <a name="l00020"></a>00020 <span class="keyword">const</span> <span class="keywordtype">double</span> GyroConstantHg1700Ag17Ag62 = 1.16415321826934814453e-10; <span class="comment">//verified on Hw</span> <a name="l00021"></a>00021 <span class="keyword">const</span> <span class="keywordtype">double</span> GyroConstantImarFsas = 4.8481368110953599359e-7; <a name="l00022"></a>00022 <span class="keyword">const</span> <span class="keywordtype">double</span> GyroConstantLn200 = 1.9073486328125e-6; <a name="l00023"></a>00023 <a name="l00024"></a>00024 <span class="comment">//yield [m/s]</span> <a name="l00025"></a>00025 <span class="keyword">const</span> <span class="keywordtype">double</span> AccelConstantHg1700Ag11Ag58 = 2.27094150781631469727e-9; <a name="l00026"></a>00026 <span class="keyword">const</span> <span class="keywordtype">double</span> AccelConstantHg1700Ag17Ag62 = 4.54188301563262939453e-9; <span class="comment">//verified on Hw</span> <a name="l00027"></a>00027 <span class="keyword">const</span> <span class="keywordtype">double</span> AccelConstantImarFsas = 1.52587890625e-6; <a name="l00028"></a>00028 <span class="keyword">const</span> <span class="keywordtype">double</span> AccelConstantLn200 = 6.103515625e-5; <a name="l00029"></a>00029 <a name="l00030"></a>00030 <span class="keyword">class </span>ImuDecoder { <a name="l00031"></a>00031 <span class="keyword">public</span>: <a name="l00032"></a>00032 <span class="keyword">virtual</span> ~ImuDecoder(){} <a name="l00033"></a>00033 <span class="keyword">inline</span> <span class="keywordtype">double</span> gyroCnt2Rad(<span class="keyword">const</span> int32_t cnt){ <span class="keywordflow">return</span> cnt*gyroConstant_; } <a name="l00034"></a>00034 <span class="keyword">inline</span> <span class="keywordtype">double</span> accelCnt2MperSec(<span class="keyword">const</span> int32_t cnt){ <span class="keywordflow">return</span> cnt*accelConstant_; } <a name="l00035"></a>00035 <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> statusIsGood(<span class="keyword">const</span> uint32_t imuStatus){<span class="keywordflow">return</span> <span class="keyword">true</span>;} <span class="comment">// possibly we need isWarning(), isError() as well. Currently anything not good is treated as error.</span> <a name="l00036"></a>00036 <span class="keyword">virtual</span> std::string statusToString(<span class="keyword">const</span> uint32_t imuStatus)=0; <a name="l00037"></a>00037 <a name="l00038"></a>00038 <span class="keyword">protected</span>: <a name="l00039"></a>00039 <span class="keywordtype">double</span> gyroConstant_; <a name="l00040"></a>00040 <span class="keywordtype">double</span> accelConstant_; <a name="l00041"></a>00041 }; <a name="l00042"></a>00042 <a name="l00043"></a>00043 <span class="keyword">extern</span> <span class="stringliteral">"C"</span>{ <a name="l00044"></a>00044 ImuDecoder *createImuDecoder(std::string type); <a name="l00045"></a>00045 } <a name="l00046"></a>00046 <a name="l00047"></a>00047 }<span class="comment">//namespace</span> <a name="l00048"></a>00048 <a name="l00049"></a>00049 <span class="preprocessor">#endif</span> </pre></div></div> </td> <td colspan="1"> </td> </tr> </table> <!-- end of table --> <hr size="1"><address style="align: right;"><small>Generated for GearBox by <a href="http://www.doxygen.org/index.html"> <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.5 </small></address> </body> </html>