Revision: 8039
http://playerstage.svn.sourceforge.net/playerstage/?rev=8039&view=rev
Author: thjc
Date: 2009-07-16 18:57:17 +0000 (Thu, 16 Jul 2009)
Log Message:
-----------
applied patch: 2818506
Update to the XSens MTi IMU driver (patch 2101814)
needed modifications to build without warnings on amd64
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/dev_imu.c
code/player/trunk/client_libs/libplayerc/playerc.h
code/player/trunk/libplayerinterface/interfaces/060_imu.def
Modified: code/player/trunk/client_libs/libplayerc/dev_imu.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_imu.c 2009-07-16 18:55:26 UTC
(rev 8038)
+++ code/player/trunk/client_libs/libplayerc/dev_imu.c 2009-07-16 18:57:17 UTC
(rev 8039)
@@ -125,6 +125,17 @@
device->pose.pyaw = imu_data->orientation.pyaw;
break;
}
+ case PLAYER_IMU_DATA_FULLSTATE:
+ {
+ player_imu_data_fullstate_t* imu_data =
(player_imu_data_fullstate_t*)data;
+ device->calib_data.accel_x = imu_data->acc.px;
+ device->calib_data.accel_y = imu_data->acc.py;
+ device->calib_data.accel_z = imu_data->acc.pz;
+ device->pose = imu_data->pose;
+ device->vel = imu_data->vel;
+ device->acc = imu_data->acc;
+ break;
+ }
default:
{
PLAYERC_WARN1 ("skipping imu message with unknown data subtype:
%d\n",
Modified: code/player/trunk/client_libs/libplayerc/playerc.h
===================================================================
--- code/player/trunk/client_libs/libplayerc/playerc.h 2009-07-16 18:55:26 UTC
(rev 8038)
+++ code/player/trunk/client_libs/libplayerc/playerc.h 2009-07-16 18:57:17 UTC
(rev 8039)
@@ -3548,6 +3548,8 @@
/** The complete pose of the IMU in 3D coordinates + angles */
player_pose3d_t pose;
+ player_pose3d_t vel;
+ player_pose3d_t acc;
/** Calibrated IMU data (accel, gyro, magnetometer) */
player_imu_data_calib_t calib_data;
Modified: code/player/trunk/libplayerinterface/interfaces/060_imu.def
===================================================================
--- code/player/trunk/libplayerinterface/interfaces/060_imu.def 2009-07-16
18:55:26 UTC (rev 8038)
+++ code/player/trunk/libplayerinterface/interfaces/060_imu.def 2009-07-16
18:57:17 UTC (rev 8039)
@@ -14,7 +14,10 @@
message { DATA, QUAT, 3, player_imu_data_quat_t };
/** Data subtype: Euler orientation data */
message { DATA, EULER, 4, player_imu_data_euler_t };
+/** Data subtype: All IMU position/orientation data */
+message { DATA, FULLSTATE, 5, player_imu_data_fullstate_t };
+
/** Request/reply subtype: set data type */
message { REQ, SET_DATATYPE, 1, player_imu_datatype_config_t };
/** Request/reply subtype: reset orientation */
@@ -85,6 +88,26 @@
player_orientation_3d_t orientation;
} player_imu_data_euler_t;
+
+/** @brief Data: all of the calibrated IMU data (@ref
PLAYER_IMU_DATA_FULLSTATE)
+
+The @p imu interface returns the complete 3D coordinates + angles position in
+space, as well as velocity and acceleration of the IMU sensor. */
+typedef struct player_imu_data_fullstate
+{
+ /** The complete pose of the IMU in 3D coordinates + angles */
+ player_pose3d_t pose;
+ /** The complete velocity of the IMU in 3D coordinates + angles */
+ player_pose3d_t vel;
+ /** The complete acceleration of the IMU in 3D coordinates + angles */
+ player_pose3d_t acc;
+
+ int abcdefgh;
+} player_imu_data_fullstate_t;
+
+
+
+
/** @brief Request/reply: change the data type to one of the predefined data
structures.
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