jafar::rtslam::hardware::HardwareSensorMti Class Reference

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Detailed Description

Definition at line 36 of file hardwareSensorMti.hpp.

Inheritance diagram for jafar::rtslam::hardware::HardwareSensorMti:

List of all members.

Public Member Functions
	HardwareSensorMti (kernel::VariableCondition< int > *condition, std::string device, double trigger_mode, double trigger_freq, double trigger_shutter, int bufferSize_, Mode mode=mOnline, std::string dump_path=".", kernel::LoggerTask *loggerTask=NULL)
virtual void	start ()
	start the acquisition thread, once the object is configured
virtual void	stop ()
	stop the acquisition thread
virtual bool	join (int timed_ms=-1)
	wait that the acquisition thread has finished
virtual double	getLastTimestamp ()
virtual void	showInfos ()
void	setSyncConfig (double timestamps_correction=0.0)
jblas::ind_array	instantValues ()
jblas::ind_array	incrementValues ()
	This function must return the indices of values returned by acquireReadings that represent the increment of a physical quantity since last reading (odometry, ...)
double	getFreq ()
Private Member Functions
void	preloadTask (void)
Private Attributes
std::string	dump_path
double	realFreq
double	last_timestamp
kernel::LoggerTask *	loggerTask
boost::thread *	preloadTask_thread
unsigned	mti_count
double	init_ts1
double	init_ts2

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Member Function Documentation

jblas::ind_array jafar::rtslam::hardware::HardwareSensorMti::instantValues

(

)

[inline, virtual]

Returns:

data with 10 columns: time, accelero (3), gyro (3), magneto (3)

Implements jafar::rtslam::hardware::HardwareSensorProprioAbstract.

Definition at line 74 of file hardwareSensorMti.hpp.

References jafar::jmath::ublasExtra::ia_set().

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

• modules/rtslam/include/rtslam/hardwareSensorMti.hpp