42 lines
1.0 KiB
C++
42 lines
1.0 KiB
C++
#include "BNO08xRptRVGeneric.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Grabs most recent rotation vector data in form of unit quaternion, accuracy units in radians (if available).
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*
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* The following RV reports have accuracy data:
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*
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* - rotation vector
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*
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*
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* @return Struct containing requested data.
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*/
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bno08x_quat_t BNO08xRptRVGeneric::get_quat()
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{
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imu->lock_user_data();
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bno08x_quat_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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}
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/**
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* @brief Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.
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*
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* @param in_degrees If true returned euler angle is in degrees, if false in radians
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*
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* @return Struct containing requested data.
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*/
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bno08x_euler_angle_t BNO08xRptRVGeneric::get_euler(bool in_degrees)
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{
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bno08x_euler_angle_t rqdata;
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bno08x_quat_t quat = get_quat();
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rqdata = quat; // conversion handled by overloaded operator
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// convert to degrees if requested
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if (in_degrees)
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rqdata *= RAD_2_DEG;
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return rqdata;
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}
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