Class ImuInterface

Defined in File imu_interface.hpp

Inheritance Relationships

Derived Types

public tap::communication::sensors::imu::bmi088::final_mockable (Class final_mockable)
public tap::communication::sensors::imu::mpu6500::final_mockable (Class final_mockable)

Class Documentation

class ImuInterface

An interface for interacting with a 6 axis IMU.

Subclassed by tap::communication::sensors::imu::bmi088::final_mockable, tap::communication::sensors::imu::mpu6500::final_mockable

Public Types

enum class ImuState

Possible IMU states for an IMU.

Values:

enumerator IMU_NOT_CONNECTED: Indicates the IMU’s init function was not called or initialization failed, so data from this class will be undefined.

enumerator IMU_NOT_CALIBRATED: Indicates the IMU is connected and reading data, but calibration offsets have not been computed.

enumerator IMU_CALIBRATING: Indicates the IMU is in the process of computing calibration offsets. Data read when the IMU is in this state is undefined.

enumerator IMU_CALIBRATED: Indicates the IMU is connected and calibration offsets have been computed.

Public Functions

inline virtual const char *getName() const = 0

inline virtual float getAx() = 0: Returns the linear acceleration in the x direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getAy() = 0: Returns the linear acceleration in the y direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getAz() = 0: Returns the linear acceleration in the z direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getGx() = 0: Returns the gyroscope reading (rotational speed) in the x direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getGy() = 0: Returns the gyroscope reading (rotational speed) in the y direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getGz() = 0: Returns the gyroscope reading (rotational speed) in the z direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getTemp() = 0: Returns the temperature of the imu in degrees C.

inline virtual float getYaw() = 0: Returns yaw angle. in degrees.

inline virtual float getPitch() = 0: Returns pitch angle in degrees.

inline virtual float getRoll() = 0: Returns roll angle in degrees.