#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Tracking.h>

Inheritance diagram for realsense2Tracking:

Public Member Functions
	realsense2Tracking ()

	~realsense2Tracking () override=default

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor.

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope.

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfThreeAxisAngularAccelerometers () const override
	Get the number of three axis angular accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisAngularAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisAngularAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisAngularAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisAngularAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device.

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw.

size_t	getNrOfPositionSensors () const override
	Get the number of position sensors exposed by this device.

yarp::dev::MAS_status	getPositionSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getPositionSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getPositionSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getPositionSensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
	Get the last reading of the position sensor as x y z.

size_t	getNrOfLinearVelocitySensors () const override
	Get the number of linear velocity sensors exposed by this device.

yarp::dev::MAS_status	getLinearVelocitySensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getLinearVelocitySensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getLinearVelocitySensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getLinearVelocitySensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
	Get the last reading of the linear velocity sensor as x y z.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IThreeAxisGyroscopes
virtual	~IThreeAxisGyroscopes ()

Public Member Functions inherited from yarp::dev::IThreeAxisLinearAccelerometers
virtual	~IThreeAxisLinearAccelerometers ()

Public Member Functions inherited from yarp::dev::IThreeAxisAngularAccelerometers
virtual	~IThreeAxisAngularAccelerometers ()

Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual	~IOrientationSensors ()

Public Member Functions inherited from yarp::dev::IPositionSensors
virtual	~IPositionSensors ()

Public Member Functions inherited from yarp::dev::ILinearVelocitySensors
virtual	~ILinearVelocitySensors ()

Protected Types
enum	timestamp_enumtype { yarp_timestamp =0 , rs_timestamp }

Protected Attributes
rs2_vector	m_last_gyro

rs2_vector	m_last_accel

rs2_pose	m_last_pose

std::string	m_inertial_sensor_name_prefix

const std::string	m_accel_sensor_tag = "accelerations_sensor"

const std::string	m_gyro_sensor_tag = "gyro_sensor"

const std::string	m_orientation_sensor_tag = "orientation_sensor"

const std::string	m_position_sensor_tag = "position_sensor"

const std::string	m_pose_sensor_tag = "pose_sensor"

std::string	m_gyroFrameName

std::string	m_accelFrameName

std::string	m_orientationFrameName

std::string	m_positionFrameName

std::string	m_poseFrameName

rs2::config	m_cfg

std::mutex	m_mutex

rs2::pipeline	m_pipeline

rs2::pipeline_profile	m_profile

std::string	m_lastError

timestamp_enumtype	m_timestamp_type

Detailed Description

Definition at line 30 of file realsense2Tracking.h.

Member Enumeration Documentation

◆ timestamp_enumtype

enum realsense2Tracking::timestamp_enumtype

protected

Enumerator
yarp_timestamp
rs_timestamp

Definition at line 137 of file realsense2Tracking.h.

Constructor & Destructor Documentation

◆ realsense2Tracking()

realsense2Tracking::realsense2Tracking ( )

Definition at line 150 of file realsense2Tracking.cpp.

◆ ~realsense2Tracking()

realsense2Tracking::~realsense2Tracking ( )

overridedefault

Member Function Documentation

◆ close()

bool realsense2Tracking::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 224 of file realsense2Tracking.cpp.

◆ getLinearVelocitySensorFrameName()

bool realsense2Tracking::getLinearVelocitySensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 542 of file realsense2Tracking.cpp.

◆ getLinearVelocitySensorMeasure()

bool realsense2Tracking::getLinearVelocitySensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	xyz,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the linear velocity sensor as x y z.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfLinearVelocitySensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters/second.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 550 of file realsense2Tracking.cpp.

◆ getLinearVelocitySensorName()

bool realsense2Tracking::getLinearVelocitySensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 535 of file realsense2Tracking.cpp.

◆ getLinearVelocitySensorStatus()

yarp::dev::MAS_status realsense2Tracking::getLinearVelocitySensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 529 of file realsense2Tracking.cpp.

◆ getNrOfLinearVelocitySensors()

size_t realsense2Tracking::getNrOfLinearVelocitySensors ( ) const

overridevirtual

Get the number of linear velocity sensors exposed by this device.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 524 of file realsense2Tracking.cpp.

◆ getNrOfOrientationSensors()

size_t realsense2Tracking::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 407 of file realsense2Tracking.cpp.

◆ getNrOfPositionSensors()

size_t realsense2Tracking::getNrOfPositionSensors ( ) const

overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 468 of file realsense2Tracking.cpp.

◆ getNrOfThreeAxisAngularAccelerometers()

size_t realsense2Tracking::getNrOfThreeAxisAngularAccelerometers ( ) const

overridevirtual

Get the number of three axis angular accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 346 of file realsense2Tracking.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t realsense2Tracking::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 232 of file realsense2Tracking.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t realsense2Tracking::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 291 of file realsense2Tracking.cpp.

◆ getOrientationSensorFrameName()

bool realsense2Tracking::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 425 of file realsense2Tracking.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool realsense2Tracking::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

${}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right)$

with

$RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}$

,

$RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix}$

and

$RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix}$

where ${}^f R_s \in \mathbb{R}^{3 \times 3}$ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 433 of file realsense2Tracking.cpp.

◆ getOrientationSensorName()

bool realsense2Tracking::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 418 of file realsense2Tracking.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status realsense2Tracking::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 412 of file realsense2Tracking.cpp.

◆ getPositionSensorFrameName()

bool realsense2Tracking::getPositionSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 486 of file realsense2Tracking.cpp.

◆ getPositionSensorMeasure()

bool realsense2Tracking::getPositionSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	xyz,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the position sensor as x y z.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfPositionSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 494 of file realsense2Tracking.cpp.

◆ getPositionSensorName()

bool realsense2Tracking::getPositionSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 479 of file realsense2Tracking.cpp.

◆ getPositionSensorStatus()

yarp::dev::MAS_status realsense2Tracking::getPositionSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 473 of file realsense2Tracking.cpp.

◆ getThreeAxisAngularAccelerometerFrameName()

bool realsense2Tracking::getThreeAxisAngularAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 364 of file realsense2Tracking.cpp.

◆ getThreeAxisAngularAccelerometerMeasure()

bool realsense2Tracking::getThreeAxisAngularAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisAngularAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 372 of file realsense2Tracking.cpp.

◆ getThreeAxisAngularAccelerometerName()

bool realsense2Tracking::getThreeAxisAngularAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 357 of file realsense2Tracking.cpp.

◆ getThreeAxisAngularAccelerometerStatus()

yarp::dev::MAS_status realsense2Tracking::getThreeAxisAngularAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 351 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool realsense2Tracking::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 250 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool realsense2Tracking::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 257 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeName()

bool realsense2Tracking::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 243 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status realsense2Tracking::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 237 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool realsense2Tracking::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 309 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool realsense2Tracking::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 316 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool realsense2Tracking::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 302 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status realsense2Tracking::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 296 of file realsense2Tracking.cpp.

◆ open()

bool realsense2Tracking::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 189 of file realsense2Tracking.cpp.

Member Data Documentation

◆ m_accel_sensor_tag

const std::string realsense2Tracking::m_accel_sensor_tag = "accelerations_sensor"

protected

Definition at line 121 of file realsense2Tracking.h.

◆ m_accelFrameName

std::string realsense2Tracking::m_accelFrameName

protected

Definition at line 127 of file realsense2Tracking.h.

◆ m_cfg

rs2::config realsense2Tracking::m_cfg

protected

Definition at line 132 of file realsense2Tracking.h.

◆ m_gyro_sensor_tag

const std::string realsense2Tracking::m_gyro_sensor_tag = "gyro_sensor"

protected

Definition at line 122 of file realsense2Tracking.h.

◆ m_gyroFrameName

std::string realsense2Tracking::m_gyroFrameName

protected

Definition at line 126 of file realsense2Tracking.h.

◆ m_inertial_sensor_name_prefix

std::string realsense2Tracking::m_inertial_sensor_name_prefix

protected

Definition at line 120 of file realsense2Tracking.h.

◆ m_last_accel

rs2_vector realsense2Tracking::m_last_accel

mutableprotected

Definition at line 116 of file realsense2Tracking.h.

◆ m_last_gyro

rs2_vector realsense2Tracking::m_last_gyro

mutableprotected

Definition at line 115 of file realsense2Tracking.h.

◆ m_last_pose

rs2_pose realsense2Tracking::m_last_pose

mutableprotected

Definition at line 117 of file realsense2Tracking.h.

◆ m_lastError

std::string realsense2Tracking::m_lastError

mutableprotected

Definition at line 136 of file realsense2Tracking.h.

◆ m_mutex

std::mutex realsense2Tracking::m_mutex

mutableprotected

Definition at line 133 of file realsense2Tracking.h.

◆ m_orientation_sensor_tag

const std::string realsense2Tracking::m_orientation_sensor_tag = "orientation_sensor"

protected

Definition at line 123 of file realsense2Tracking.h.

◆ m_orientationFrameName

std::string realsense2Tracking::m_orientationFrameName

protected

Definition at line 128 of file realsense2Tracking.h.

◆ m_pipeline

rs2::pipeline realsense2Tracking::m_pipeline

protected

Definition at line 134 of file realsense2Tracking.h.

◆ m_pose_sensor_tag

const std::string realsense2Tracking::m_pose_sensor_tag = "pose_sensor"

protected

Definition at line 125 of file realsense2Tracking.h.

◆ m_poseFrameName

std::string realsense2Tracking::m_poseFrameName

protected

Definition at line 130 of file realsense2Tracking.h.

◆ m_position_sensor_tag

const std::string realsense2Tracking::m_position_sensor_tag = "position_sensor"

protected

Definition at line 124 of file realsense2Tracking.h.

◆ m_positionFrameName

std::string realsense2Tracking::m_positionFrameName

protected

Definition at line 129 of file realsense2Tracking.h.

◆ m_profile

rs2::pipeline_profile realsense2Tracking::m_profile

protected

Definition at line 135 of file realsense2Tracking.h.

◆ m_timestamp_type

timestamp_enumtype realsense2Tracking::m_timestamp_type

protected

Definition at line 138 of file realsense2Tracking.h.

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

opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Tracking.h
opt-modules/yarp-device-realsense2/src/devices/realsense2/realsense2Tracking.cpp

Public Member Functions

Protected Types

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ timestamp_enumtype

Constructor & Destructor Documentation

◆ realsense2Tracking()

◆ ~realsense2Tracking()

Member Function Documentation

◆ close()

◆ getLinearVelocitySensorFrameName()

◆ getLinearVelocitySensorMeasure()

◆ getLinearVelocitySensorName()

◆ getLinearVelocitySensorStatus()

◆ getNrOfLinearVelocitySensors()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getNrOfThreeAxisAngularAccelerometers()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getPositionSensorFrameName()

◆ getPositionSensorMeasure()

◆ getPositionSensorName()

◆ getPositionSensorStatus()

◆ getThreeAxisAngularAccelerometerFrameName()

◆ getThreeAxisAngularAccelerometerMeasure()

◆ getThreeAxisAngularAccelerometerName()

◆ getThreeAxisAngularAccelerometerStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ open()

Member Data Documentation

◆ m_accel_sensor_tag

◆ m_accelFrameName

◆ m_cfg

◆ m_gyro_sensor_tag

◆ m_gyroFrameName

◆ m_inertial_sensor_name_prefix

◆ m_last_accel

◆ m_last_gyro

◆ m_last_pose

◆ m_lastError

◆ m_mutex

◆ m_orientation_sensor_tag

◆ m_orientationFrameName

◆ m_pipeline

◆ m_pose_sensor_tag

◆ m_poseFrameName

◆ m_position_sensor_tag

◆ m_positionFrameName

◆ m_profile

◆ m_timestamp_type