#include <abstract_imu.hpp>

Inheritance diagram for tap::communication::sensors::imu::AbstractIMU:

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Collaboration diagram for tap::communication::sensors::imu::AbstractIMU:

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Classes
struct	ImuData

Public Member Functions
	AbstractIMU (const Transform &mountingTransform=Transform::identity())

void	setMountingTransform (const Transform &transform)

virtual	~AbstractIMU ()=default

virtual void	initialize (float sampleFrequency, float mahonyKp, float mahonyKi)

virtual void	requestCalibration ()

virtual void	periodicIMUUpdate ()

virtual ImuState	getImuState () const

mockable float	getAx () const override

mockable float	getAy () const override

mockable float	getAz () const override

mockable float	getAzMinusG () const

mockable float	getGx () const override

mockable float	getGy () const override

mockable float	getGz () const override

mockable float	getTemp () const

virtual float	getYaw () const override

virtual float	getPitch () const override

virtual float	getRoll () const override

void	setCalibrationSamples (int sampleCount)

Public Member Functions inherited from tap::communication::sensors::imu::ImuInterface
virtual const char *	getName () const =0

Protected Member Functions
void	resetOffsets ()

void	computeOffsets ()

void	setAccelOffset (float x, float y, float z)

void	setGyroOffset (float x, float y, float z)

void	applyTransform (ImuData &data)

virtual float	getAccelerationSensitivity () const =0

Protected Attributes
tap::algorithms::transforms::Transform	mountingTransform

Mahony	mahonyAlgorithm

ImuState	imuState = ImuState::IMU_NOT_CONNECTED

int	calibrationSample = 0

int	offsetSampleCount = 1000

ImuData	imuData

tap::arch::PeriodicMicroTimer	readTimeout

uint32_t	prevIMUDataReceivedTime = 0

Additional Inherited Members
Public Types inherited from tap::communication::sensors::imu::ImuInterface
enum class	ImuState { IMU_NOT_CONNECTED , IMU_NOT_CALIBRATED , IMU_CALIBRATING , IMU_CALIBRATED }

Detailed Description

A class that represents any directly connected IMU.

Constructor & Destructor Documentation

◆ AbstractIMU()

tap::communication::sensors::imu::AbstractIMU::AbstractIMU ( const Transform & mountingTransform = Transform::identity() )

inline

◆ ~AbstractIMU()

virtual tap::communication::sensors::imu::AbstractIMU::~AbstractIMU ( )

virtualdefault

Member Function Documentation

◆ applyTransform()

void tap::communication::sensors::imu::AbstractIMU::applyTransform ( ImuData & data )

inlineprotected

◆ computeOffsets()

void tap::communication::sensors::imu::AbstractIMU::computeOffsets ( )

protected

◆ getAccelerationSensitivity()

virtual float tap::communication::sensors::imu::AbstractIMU::getAccelerationSensitivity ( ) const

inlineprotectedpure virtual

◆ getAx()

mockable float tap::communication::sensors::imu::AbstractIMU::getAx ( ) const

inlineoverridevirtual

Returns the linear acceleration in the x direction, in $\frac{\mbox{m}}{\mbox{second}^2}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getAy()

mockable float tap::communication::sensors::imu::AbstractIMU::getAy ( ) const

inlineoverridevirtual

Returns the linear acceleration in the y direction, in $\frac{\mbox{m}}{\mbox{second}^2}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getAz()

mockable float tap::communication::sensors::imu::AbstractIMU::getAz ( ) const

inlineoverridevirtual

Returns the linear acceleration in the z direction, in $\frac{\mbox{m}}{\mbox{second}^2}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getAzMinusG()

mockable float tap::communication::sensors::imu::AbstractIMU::getAzMinusG ( ) const

inline

◆ getGx()

mockable float tap::communication::sensors::imu::AbstractIMU::getGx ( ) const

inlineoverridevirtual

Returns the gyroscope reading (rotational speed) in the x direction, in $\frac{\mbox{radians}}{\mbox{second}}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getGy()

mockable float tap::communication::sensors::imu::AbstractIMU::getGy ( ) const

inlineoverridevirtual

Returns the gyroscope reading (rotational speed) in the y direction, in $\frac{\mbox{radians}}{\mbox{second}}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getGz()

mockable float tap::communication::sensors::imu::AbstractIMU::getGz ( ) const

inlineoverridevirtual

Returns the gyroscope reading (rotational speed) in the z direction, in $\frac{\mbox{radians}}{\mbox{second}}$ .

Implements tap::communication::sensors::imu::ImuInterface.

◆ getImuState()

virtual ImuState tap::communication::sensors::imu::AbstractIMU::getImuState ( ) const

inlinevirtual

Returns the state of the IMU. Can be not connected, connected but not calibrated, or calibrated. When not connected, IMU data will be garbage. When not calibrated, IMU data is valid but the computed yaw angle data will drift. When calibrating, the IMU data is invalid. When calibrated, the IMU data is valid and assuming proper calibration the IMU data should not drift.

To be safe, whenever you call the functions below, call this function to ensure the data you are about to receive is not garbage.

◆ getPitch()

virtual float tap::communication::sensors::imu::AbstractIMU::getPitch ( ) const

inlineoverridevirtual

Returns pitch angle in radians.

Implements tap::communication::sensors::imu::ImuInterface.

◆ getRoll()

virtual float tap::communication::sensors::imu::AbstractIMU::getRoll ( ) const

inlineoverridevirtual

Returns roll angle in radians.

Implements tap::communication::sensors::imu::ImuInterface.

◆ getTemp()

mockable float tap::communication::sensors::imu::AbstractIMU::getTemp ( ) const

inline

◆ getYaw()

virtual float tap::communication::sensors::imu::AbstractIMU::getYaw ( ) const

inlineoverridevirtual

Returns yaw angle. in radians.

Implements tap::communication::sensors::imu::ImuInterface.

◆ initialize()

void tap::communication::sensors::imu::AbstractIMU::initialize	(	float	sampleFrequency,
		float	mahonyKp,
		float	mahonyKi
	)

virtual

Reimplemented in tap::communication::sensors::imu::bmi088::final_mockable.

◆ periodicIMUUpdate()

void tap::communication::sensors::imu::AbstractIMU::periodicIMUUpdate ( )

virtual

Call this function at same rate as intialized sample frequency. Performs the mahony AHRS algorithm to compute pitch/roll/yaw.

Reimplemented in tap::communication::sensors::imu::bmi088::final_mockable.

◆ requestCalibration()

void tap::communication::sensors::imu::AbstractIMU::requestCalibration ( )

virtual

When this function is called, the bmi088 enters a calibration state during which time, gyro/accel calibration offsets will be computed and the mahony algorithm reset. When calibrating, angle, accelerometer, and gyroscope values will return 0. When calibrating the BMI088 should be level, otherwise the IMU will be calibrated incorrectly.

◆ resetOffsets()

void tap::communication::sensors::imu::AbstractIMU::resetOffsets ( )

protected

◆ setAccelOffset()

void tap::communication::sensors::imu::AbstractIMU::setAccelOffset	(	float	x,
		float	y,
		float	z
	)

protected

◆ setCalibrationSamples()

void tap::communication::sensors::imu::AbstractIMU::setCalibrationSamples ( int sampleCount )

inline

◆ setGyroOffset()

void tap::communication::sensors::imu::AbstractIMU::setGyroOffset	(	float	x,
		float	y,
		float	z
	)

protected

◆ setMountingTransform()

void tap::communication::sensors::imu::AbstractIMU::setMountingTransform ( const Transform & transform )

Member Data Documentation

◆ calibrationSample

int tap::communication::sensors::imu::AbstractIMU::calibrationSample = 0

protected

◆ imuData

ImuData tap::communication::sensors::imu::AbstractIMU::imuData

protected

◆ imuState

ImuState tap::communication::sensors::imu::AbstractIMU::imuState = ImuState::IMU_NOT_CONNECTED

protected

◆ mahonyAlgorithm

Mahony tap::communication::sensors::imu::AbstractIMU::mahonyAlgorithm

protected

◆ mountingTransform

tap::algorithms::transforms::Transform tap::communication::sensors::imu::AbstractIMU::mountingTransform

protected

◆ offsetSampleCount

int tap::communication::sensors::imu::AbstractIMU::offsetSampleCount = 1000

protected

◆ prevIMUDataReceivedTime

uint32_t tap::communication::sensors::imu::AbstractIMU::prevIMUDataReceivedTime = 0

protected

◆ readTimeout

tap::arch::PeriodicMicroTimer tap::communication::sensors::imu::AbstractIMU::readTimeout

protected

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

fang-mcb-project/taproot/src/tap/communication/sensors/imu/abstract_imu.hpp
fang-mcb-project/taproot/src/tap/communication/sensors/imu/abstract_imu.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AbstractIMU()

◆ ~AbstractIMU()

Member Function Documentation

◆ applyTransform()

◆ computeOffsets()

◆ getAccelerationSensitivity()

◆ getAx()

◆ getAy()

◆ getAz()

◆ getAzMinusG()

◆ getGx()

◆ getGy()

◆ getGz()

◆ getImuState()

◆ getPitch()

◆ getRoll()

◆ getTemp()

◆ getYaw()

◆ initialize()

◆ periodicIMUUpdate()

◆ requestCalibration()

◆ resetOffsets()

◆ setAccelOffset()

◆ setCalibrationSamples()

◆ setGyroOffset()

◆ setMountingTransform()

Member Data Documentation

◆ calibrationSample

◆ imuData

◆ imuState

◆ mahonyAlgorithm

◆ mountingTransform

◆ offsetSampleCount

◆ prevIMUDataReceivedTime

◆ readTimeout