Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_IMU_ACQUISITION_THREAD_H_
23 #define _PLUGINS_IMU_ACQUISITION_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
48 const std::string &cfg_name,
49 const std::string &cfg_prefix);
float linear_acceleration_[3]
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
IMUAcquisitionThread(const char *thread_name, bool continuous, const std::string &cfg_name, const std::string &cfg_prefix)
Constructor.
virtual void loop()
Code to execute in the thread.
const float * get_linear_acceleration()
Get linear acceleration data.
const double * get_orientation_covariance()
Get orientation covariance.
const float * get_orientation()
Get orientation data.
const fawkes::Time * get_timestamp()
Get time of data set.
virtual void init()
Initialize the thread.
bool lock_if_new_data()
Lock data if fresh.
const double * get_angular_velocity_covariance()
Get angular velocity covariance.
double orientation_covariance_[9]
const float * get_angular_velocity()
Get angular velocity data.
fawkes::Mutex * data_mutex_
double angular_velocity_covariance_[9]
double linear_acceleration_covariance_[9]
void unlock()
Unlock data,.
const double * get_linear_acceleration_covariance()
Get linera acceleration covariance.
float angular_velocity_[3]
fawkes::Time * timestamp_