The class to give access to 3dof data which converted from raw IMU data.
More...
#include <xv-sdk.h>
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| virtual bool | get (Orientation &pose, double prediction=0.)=0 |
| | Get the current orientation of the device. More...
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| virtual bool | getAt (Orientation &pose, double timestamp)=0 |
| | Get the orientation of the device at a given timestamp. More...
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virtual bool | start ()=0 |
| | start streaming.
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virtual bool | stop ()=0 |
| | stop streaming.
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virtual int | registerCallback (std::function< void(Orientation const &)>)=0 |
| | Register callback to receive data.
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virtual bool | unregisterCallback (int callbackId)=0 |
| | Unregister callback.
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The class to give access to 3dof data which converted from raw IMU data.
| virtual bool xv::OrientationStream::get |
( |
Orientation & |
pose, |
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double |
prediction = 0. |
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) |
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pure virtual |
Get the current orientation of the device.
The orientation (3dof) is the rotation of the IMU frame coordinates based on the world frame coordinates. The world frame coordinates coorespond the IMU coordinates when #startOrientation().
- Parameters
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| [out] | result | orientation corresponding to the timestamp "now" + "prediction" |
| [in] | prediction | (in s) amount of prediction to use to get the orientation corresponding to the future |
- Returns
- true if ok, false else.
| virtual bool xv::OrientationStream::getAt |
( |
Orientation & |
pose, |
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double |
timestamp |
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) |
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pure virtual |
Get the orientation of the device at a given timestamp.
The orientation (3dof) is the rotation of the IMU frame coordinates based on the world frame coordinates. The world frame coordinates coorespond the IMU coordinates when #startOrientation().
- Parameters
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| [out] | result | orientation corresponding to the timestamp, need to be not too in the pass or too in the future |
| [in] | timestamp | of the requested orientation, in s based on the host clock std::chrono::steady_clock() |
- Returns
- true if the orientation can be returned, false else. If timestamp is too in the past or too in the future, return false.
The documentation for this class was generated from the following file:
1.8.9
