10#ifndef CIMUXSens_MT4_H
11#define CIMUXSens_MT4_H
70 const std::string &iniSection );
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A class for interfacing XSens 4th generation Inertial Measuring Units (IMUs): MTi 10-series,...
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
std::string m_portname
The USB or COM port name (if blank -> autodetect)
mrpt::poses::CPose3D m_sensorPose
CIMUXSens_MT4()
Constructor.
int m_port_bauds
Baudrate, only for COM ports.
virtual ~CIMUXSens_MT4()
Destructor.
mrpt::system::TTimeStamp m_timeStartTT
void initialize()
Turns on the xSens device and configure it for getting orientation data.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.