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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>imu<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1>  </div>
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<div class="contents">

<p>Inertial Measurement Unit.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad86e4b7aadbb41f58bb77c6634fb2121"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_DATA_STATE" ref="gad86e4b7aadbb41f58bb77c6634fb2121" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#gad86e4b7aadbb41f58bb77c6634fb2121">PLAYER_IMU_DATA_STATE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: IMU position/orientation data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaebf284ee836a3d1144fbb5615ead4b01"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_DATA_CALIB" ref="gaebf284ee836a3d1144fbb5615ead4b01" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#gaebf284ee836a3d1144fbb5615ead4b01">PLAYER_IMU_DATA_CALIB</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: Calibrated IMU data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga388b28870d30814915b4343f6ead66d7"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_DATA_QUAT" ref="ga388b28870d30814915b4343f6ead66d7" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga388b28870d30814915b4343f6ead66d7">PLAYER_IMU_DATA_QUAT</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: Quaternions orientation data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga993255084bdb82f41f5665d9b80eec4d"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_DATA_EULER" ref="ga993255084bdb82f41f5665d9b80eec4d" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga993255084bdb82f41f5665d9b80eec4d">PLAYER_IMU_DATA_EULER</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: Euler orientation data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga55dd80201004a4e1f0b05104aaca535f"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_DATA_FULLSTATE" ref="ga55dd80201004a4e1f0b05104aaca535f" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga55dd80201004a4e1f0b05104aaca535f">PLAYER_IMU_DATA_FULLSTATE</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: All IMU position/orientation data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gacc47985ce3bab911445420dfd37de1c1"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_REQ_SET_DATATYPE" ref="gacc47985ce3bab911445420dfd37de1c1" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#gacc47985ce3bab911445420dfd37de1c1">PLAYER_IMU_REQ_SET_DATATYPE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set data type. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga28b5064fe6b9f171add5d556c2da8bb6"></a><!-- doxytag: member="interface_imu::PLAYER_IMU_REQ_RESET_ORIENTATION" ref="ga28b5064fe6b9f171add5d556c2da8bb6" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga28b5064fe6b9f171add5d556c2da8bb6">PLAYER_IMU_REQ_RESET_ORIENTATION</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: reset orientation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__data__state.html">player_imu_data_state</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga7c71672c576fa557e67456df41ec5975">player_imu_data_state_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: calibrated IMU data (<a class="el" href="group__interface__imu.html#gad86e4b7aadbb41f58bb77c6634fb2121">PLAYER_IMU_DATA_STATE</a>).  <a href="#ga7c71672c576fa557e67456df41ec5975"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__data__calib.html">player_imu_data_calib</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga848126ee2eb0aa1d21af127d7664e243">player_imu_data_calib_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: calibrated IMU data (<a class="el" href="group__interface__imu.html#gaebf284ee836a3d1144fbb5615ead4b01">PLAYER_IMU_DATA_CALIB</a>).  <a href="#ga848126ee2eb0aa1d21af127d7664e243"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__imu__data__quat.html">player_imu_data_quat</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga8144dd18ee06aad9821a7560f195426a">player_imu_data_quat_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: Quaternions orientation data (<a class="el" href="group__interface__imu.html#ga388b28870d30814915b4343f6ead66d7">PLAYER_IMU_DATA_QUAT</a>).  <a href="#ga8144dd18ee06aad9821a7560f195426a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__data__euler.html">player_imu_data_euler</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga175698c491a53e3c6123478107bfb467">player_imu_data_euler_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: Euler orientation data (<a class="el" href="group__interface__imu.html#ga993255084bdb82f41f5665d9b80eec4d">PLAYER_IMU_DATA_EULER</a>).  <a href="#ga175698c491a53e3c6123478107bfb467"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__data__fullstate.html">player_imu_data_fullstate</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga6318e6bad145025ef26473cf596ff711">player_imu_data_fullstate_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: all of the calibrated IMU data (<a class="el" href="group__interface__imu.html#ga55dd80201004a4e1f0b05104aaca535f">PLAYER_IMU_DATA_FULLSTATE</a>).  <a href="#ga6318e6bad145025ef26473cf596ff711"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__datatype__config.html">player_imu_datatype_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#gab5353c0ad15e68f560bf318dfa6d6020">player_imu_datatype_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: change the data type to one of the predefined data structures.  <a href="#gab5353c0ad15e68f560bf318dfa6d6020"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__imu__reset__orientation__config.html">player_imu_reset_orientation_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__imu.html#ga9b85bcd913930b6a21c1816c4912d2f9">player_imu_reset_orientation_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Reset orientation.  <a href="#ga9b85bcd913930b6a21c1816c4912d2f9"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Inertial Measurement Unit. </p>
<p>The <code>imu</code> interface provides access to an Inertial Measurement Unit sensor (such as the XSens MTx/MTi). </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga848126ee2eb0aa1d21af127d7664e243"></a><!-- doxytag: member="player_interfaces.h::player_imu_data_calib_t" ref="ga848126ee2eb0aa1d21af127d7664e243" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">typedef struct <a class="el" href="structplayer__imu__data__calib.html">player_imu_data_calib</a>  <a class="el" href="structplayer__imu__data__calib.html">player_imu_data_calib_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Data: calibrated IMU data (<a class="el" href="group__interface__imu.html#gaebf284ee836a3d1144fbb5615ead4b01">PLAYER_IMU_DATA_CALIB</a>). </p>
<p>The <code>imu</code> interface returns calibrated acceleration, gyro and magnetic values from the IMU sensor. </p>

</div>
</div>
<a class="anchor" id="ga175698c491a53e3c6123478107bfb467"></a><!-- doxytag: member="player_interfaces.h::player_imu_data_euler_t" ref="ga175698c491a53e3c6123478107bfb467" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__data__euler.html">player_imu_data_euler</a>  <a class="el" href="structplayer__imu__data__euler.html">player_imu_data_euler_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Data: Euler orientation data (<a class="el" href="group__interface__imu.html#ga993255084bdb82f41f5665d9b80eec4d">PLAYER_IMU_DATA_EULER</a>). </p>
<p>The <code>imu</code> interface returns calibrated IMU values as well as orientation data as Euler angles. </p>

</div>
</div>
<a class="anchor" id="ga6318e6bad145025ef26473cf596ff711"></a><!-- doxytag: member="player_interfaces.h::player_imu_data_fullstate_t" ref="ga6318e6bad145025ef26473cf596ff711" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__data__fullstate.html">player_imu_data_fullstate</a>  <a class="el" href="structplayer__imu__data__fullstate.html">player_imu_data_fullstate_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Data: all of the calibrated IMU data (<a class="el" href="group__interface__imu.html#ga55dd80201004a4e1f0b05104aaca535f">PLAYER_IMU_DATA_FULLSTATE</a>). </p>
<p>The <code>imu</code> interface returns the complete 3D coordinates + angles position in space, as well as velocity and acceleration of the IMU sensor. </p>

</div>
</div>
<a class="anchor" id="ga8144dd18ee06aad9821a7560f195426a"></a><!-- doxytag: member="player_interfaces.h::player_imu_data_quat_t" ref="ga8144dd18ee06aad9821a7560f195426a" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__data__quat.html">player_imu_data_quat</a>  <a class="el" href="structplayer__imu__data__quat.html">player_imu_data_quat_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Data: Quaternions orientation data (<a class="el" href="group__interface__imu.html#ga388b28870d30814915b4343f6ead66d7">PLAYER_IMU_DATA_QUAT</a>). </p>
<p>The <code>imu</code> interface returns calibrated IMU values as well as orientation data as quaternions. </p>

</div>
</div>
<a class="anchor" id="ga7c71672c576fa557e67456df41ec5975"></a><!-- doxytag: member="player_interfaces.h::player_imu_data_state_t" ref="ga7c71672c576fa557e67456df41ec5975" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__data__state.html">player_imu_data_state</a>  <a class="el" href="structplayer__imu__data__state.html">player_imu_data_state_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Data: calibrated IMU data (<a class="el" href="group__interface__imu.html#gad86e4b7aadbb41f58bb77c6634fb2121">PLAYER_IMU_DATA_STATE</a>). </p>
<p>The <code>imu</code> interface returns the complete 3D coordinates + angles position in space, of the IMU sensor. </p>

</div>
</div>
<a class="anchor" id="gab5353c0ad15e68f560bf318dfa6d6020"></a><!-- doxytag: member="player_interfaces.h::player_imu_datatype_config_t" ref="gab5353c0ad15e68f560bf318dfa6d6020" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__datatype__config.html">player_imu_datatype_config</a>  <a class="el" href="structplayer__imu__datatype__config.html">player_imu_datatype_config_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Request/reply: change the data type to one of the predefined data structures. </p>
<p>Send a <a class="el" href="group__interface__imu.html#gacc47985ce3bab911445420dfd37de1c1">PLAYER_IMU_REQ_SET_DATATYPE</a> request to switch between calibrated data, 3D pose and orientation, Euler orientation or Quaternions orientation in the data packet. Null response. </p>

</div>
</div>
<a class="anchor" id="ga9b85bcd913930b6a21c1816c4912d2f9"></a><!-- doxytag: member="player_interfaces.h::player_imu_reset_orientation_config_t" ref="ga9b85bcd913930b6a21c1816c4912d2f9" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">typedef struct <a class="el" href="structplayer__imu__reset__orientation__config.html">player_imu_reset_orientation_config</a>  <a class="el" href="structplayer__imu__reset__orientation__config.html">player_imu_reset_orientation_config_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Request/reply: Reset orientation. </p>
<p>To reset the IMU's orientation, send a <a class="el" href="group__interface__imu.html#ga28b5064fe6b9f171add5d556c2da8bb6">PLAYER_IMU_REQ_RESET_ORIENTATION</a> request. Null response. </p>

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Last updated 12 September 2005 21:38:45
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