fakeIMU : fake device implementing the device interface typically implemented by an Inertial Measurement Unit More...

#include <fakeIMU/fakeIMU.h>

Inheritance diagram for fakeIMU:

Public Member Functions
	fakeIMU ()
	This device implements a fake analog sensor emulating an IMU. More...

	fakeIMU (const fakeIMU &)=delete

	fakeIMU (fakeIMU &&)=delete

fakeIMU &	operator= (const fakeIMU &)=delete

fakeIMU &	operator= (fakeIMU &&)=delete

	~fakeIMU () override

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

bool	close () override
	Close the DeviceDriver. More...

bool	read (yarp::sig::Vector &out) override
	Read a vector from the sensor. More...

bool	getChannels (int *nc) override
	Get the number of channels of the sensor. More...

bool	calibrate (int ch, double v) override
	Calibrate the sensor, single channel. More...

yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

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

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

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

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

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

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

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

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

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

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

size_t	getNrOfThreeAxisMagnetometers () const override
	Get the number of magnetometers exposed by this device. More...

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

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

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

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

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

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

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

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

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. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

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

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

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

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

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor. More...

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

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

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::IThreeAxisMagnetometers
virtual	~IThreeAxisMagnetometers ()

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

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	threadRelease ()
	Release method. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

fakeIMU : fake device implementing the device interface typically implemented by an Inertial Measurement Unit

YARP device name
`fakeIMU`

The parameters accepted by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
period	-	int	millisecond	10	No	Period over which the measurement is updated.
constantValue	-	-	-	-	No	If the parameter is present, the fake sensor values never changes (useful for testing server/client coherence).

Definition at line 31 of file fakeIMU.h.

Constructor & Destructor Documentation

◆ fakeIMU() [1/3]

fakeIMU::fakeIMU ( )

This device implements a fake analog sensor emulating an IMU.

Definition at line 37 of file fakeIMU.cpp.

◆ fakeIMU() [2/3]

fakeIMU::fakeIMU ( const fakeIMU & )

delete

◆ fakeIMU() [3/3]

fakeIMU::fakeIMU ( fakeIMU && )

delete

◆ ~fakeIMU()

fakeIMU::~fakeIMU ( )

override

Definition at line 51 of file fakeIMU.cpp.

Member Function Documentation

◆ calibrate()

bool fakeIMU::calibrate	(	int	ch,
		double	v
	)

overridevirtual

Calibrate the sensor, single channel.

Parameters

ch	channel number
v	reset valure

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 119 of file fakeIMU.cpp.

◆ close()

bool fakeIMU::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 72 of file fakeIMU.cpp.

◆ getChannels()

bool fakeIMU::getChannels ( int * nc )

overridevirtual

Get the number of channels of the sensor.

Parameters

nc	pointer to storage, return value

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 113 of file fakeIMU.cpp.

◆ getLastInputStamp()

yarp::os::Stamp fakeIMU::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 155 of file fakeIMU.cpp.

◆ getNrOfOrientationSensors()

size_t fakeIMU::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 303 of file fakeIMU.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t fakeIMU::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

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

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 189 of file fakeIMU.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t fakeIMU::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

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

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 227 of file fakeIMU.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t fakeIMU::getNrOfThreeAxisMagnetometers ( ) const

overridevirtual

Get the number of magnetometers exposed by this device.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 265 of file fakeIMU.cpp.

◆ getOrientationSensorFrameName()

bool fakeIMU::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 318 of file fakeIMU.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool fakeIMU::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 323 of file fakeIMU.cpp.

◆ getOrientationSensorName()

bool fakeIMU::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 313 of file fakeIMU.cpp.

◆ getOrientationSensorStatus()

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

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 308 of file fakeIMU.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool fakeIMU::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 204 of file fakeIMU.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool fakeIMU::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 209 of file fakeIMU.cpp.

◆ getThreeAxisGyroscopeName()

bool fakeIMU::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 199 of file fakeIMU.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status fakeIMU::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 194 of file fakeIMU.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool fakeIMU::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 242 of file fakeIMU.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool fakeIMU::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 247 of file fakeIMU.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool fakeIMU::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 237 of file fakeIMU.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

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

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 232 of file fakeIMU.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool fakeIMU::getThreeAxisMagnetometerFrameName	(	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::IThreeAxisMagnetometers.

Definition at line 280 of file fakeIMU.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool fakeIMU::getThreeAxisMagnetometerMeasure	(	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 getNrOfThreeAxisMagnetometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in tesla .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 285 of file fakeIMU.cpp.

◆ getThreeAxisMagnetometerName()

bool fakeIMU::getThreeAxisMagnetometerName	(	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::IThreeAxisMagnetometers.

Definition at line 275 of file fakeIMU.cpp.

◆ getThreeAxisMagnetometerStatus()

yarp::dev::MAS_status fakeIMU::getThreeAxisMagnetometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 270 of file fakeIMU.cpp.

◆ open()

bool fakeIMU::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 56 of file fakeIMU.cpp.

◆ operator=() [1/2]

fakeIMU& fakeIMU::operator= ( const fakeIMU & )

delete

◆ operator=() [2/2]

fakeIMU& fakeIMU::operator= ( fakeIMU && )

delete

◆ read()

bool fakeIMU::read ( yarp::sig::Vector & out )

overridevirtual

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 78 of file fakeIMU.cpp.

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

src/devices/fakeIMU/fakeIMU.h
src/devices/fakeIMU/fakeIMU.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ fakeIMU() [1/3]

◆ fakeIMU() [2/3]

◆ fakeIMU() [3/3]

◆ ~fakeIMU()

Member Function Documentation

◆ calibrate()

◆ close()

◆ getChannels()

◆ getLastInputStamp()

◆ getNrOfOrientationSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getNrOfThreeAxisMagnetometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ read()