Device interface to one or multiple orientation sensors, such as IMUs with on board estimation algorithms. More...

#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>

Inheritance diagram for yarp::dev::IOrientationSensors:

Public Member Functions
virtual size_t	getNrOfOrientationSensors () const =0
	Get the number of orientation sensors exposed by this device.

virtual yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const =0
	Get the status of the specified sensor.

virtual bool	getOrientationSensorName (size_t sens_index, std::string &name) const =0
	Get the name of the specified sensor.

virtual bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const =0
	Get the name of the frame of the specified sensor.

virtual bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const =0
	Get the last reading of the orientation sensor as roll pitch yaw.

virtual	~IOrientationSensors ()

Detailed Description

Device interface to one or multiple orientation sensors, such as IMUs with on board estimation algorithms.

The device returns the relative orientation between a lab or surface-fixed frame and a frame rigidly attached to the sensor.

The definition of the lab or surface-fixed frame is sensor-specific.

Sensor Tag
`OrientationSensors`

Definition at line 350 of file MultipleAnalogSensorsInterfaces.h.

Constructor & Destructor Documentation

◆ ~IOrientationSensors()

virtual yarp::dev::IOrientationSensors::~IOrientationSensors ( )

inlinevirtual

Definition at line 428 of file MultipleAnalogSensorsInterfaces.h.

Member Function Documentation

◆ getNrOfOrientationSensors()

virtual size_t yarp::dev::IOrientationSensors::getNrOfOrientationSensors ( ) const

pure virtual

Get the number of orientation sensors exposed by this device.

Implemented in realsense2Tracking, realsense2withIMUDriver, Imu_nwc_ros2, FakeIMU, FakePositionSensor, BoschIMU, MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getOrientationSensorFrameName()

virtual bool yarp::dev::IOrientationSensors::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

pure virtual

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.

Implemented in realsense2Tracking, realsense2withIMUDriver, Imu_nwc_ros2, FakeIMU, FakePositionSensor, BoschIMU, MultipleAnalogSensorsRemapper, and MultipleAnalogSensorsClient.

◆ getOrientationSensorMeasureAsRollPitchYaw()

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

pure virtual

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.