esp32_BNO08x/archive/1f48d4602ac2862c6112f3b13436edf426ac1f7b.tar.gz

#pragma once


#include "BNO08xRptRVGeneric.hpp"


class BNO08xRptIGyroRV : public BNO08xRptRVGeneric

{

    public:


        BNO08xRptIGyroRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)

            : BNO08xRptRVGeneric(ID, rpt_bit, sync_ctx)

        {

        }


        void get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel);

        bno08x_ang_vel_t get_vel();


    private:

        void update_data(sh2_SensorValue_t* sensor_val) override;

        bno08x_ang_vel_t data_vel;

        static const constexpr char* TAG = "BNO08xRptIGyroRV";

};


BNO08xRptRVGeneric.hpp

BNO08xRpt::sync_ctx
BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx
Definition BNO08xRpt.hpp:39

BNO08xRpt::ID
uint8_t ID
Report ID, ex. SH2_ACCELERATION.
Definition BNO08xRpt.hpp:36

BNO08xRpt::rpt_bit
EventBits_t rpt_bit
Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.
Definition BNO08xRpt.hpp:37

BNO08xRptIGyroRV
Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)
Definition BNO08xRptIGyroRV.hpp:16

BNO08xRptIGyroRV::data_vel
bno08x_ang_vel_t data_vel
Definition BNO08xRptIGyroRV.hpp:28

BNO08xRptIGyroRV::update_data
void update_data(sh2_SensorValue_t *sensor_val) override
Updates gyro integrated rotation vector data from decoded sensor event.
Definition BNO08xRptIGyroRV.cpp:15

BNO08xRptIGyroRV::BNO08xRptIGyroRV
BNO08xRptIGyroRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
Definition BNO08xRptIGyroRV.hpp:18

BNO08xRptIGyroRV::TAG
static const constexpr char * TAG
Definition BNO08xRptIGyroRV.hpp:29

BNO08xRptIGyroRV::get_vel
bno08x_ang_vel_t get_vel()
Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.
Definition BNO08xRptIGyroRV.cpp:49

BNO08xRptIGyroRV::get
void get(bno08x_quat_t &quat, bno08x_ang_vel_t &vel)
Grabs most recent gyro integrated rotation vector data.
Definition BNO08xRptIGyroRV.cpp:35

BNO08xRptRVGeneric
Class to represent rotation vector reports.
Definition BNO08xRptRVGeneric.hpp:16

BNO08xPrivateTypes::bno08x_sync_ctx_t
Holds context used to synchronize tasks and callback execution.
Definition BNO08xPrivateTypes.hpp:57

bno08x_ang_vel_t
Struct to represent angular velocity (units in rad/s)
Definition BNO08xGlobalTypes.hpp:258

bno08x_quat_t
Struct to represent unit quaternion.
Definition BNO08xGlobalTypes.hpp:159