Class inertialsim::sensors::InertialSensorSpecification::DataInterface¶

ClassList > inertialsim > sensors > InertialSensorSpecification > DataInterface

Extended data interface specification for inertial sensors. More...

#include <inertial_specification.h>

Inherits the following classes: inertialsim::sensors::SensorSpecification::DataInterface

Inherited by the following classes: inertialsim::sensors::AccelerometerSpecification::DataInterface, inertialsim::sensors::GyroSpecification::DataInterface

Public Functions¶

Type	Name
	DataInterface (int axes) Construct with default values.
const std::optional< Parameter< SpecificationArray > > &	delta_quantization () const Get delta quantization (if set).
const Parameter< double > &	delta_sample_rate () const Get delta sample rate.
int	delta_stride () const Get delta stride (output decimation factor).
void	set_delta_quantization (const Parameter< T > & param)
void	set_delta_quantization (std::nullopt_t) Clear delta (integrated) output quantization.
void	set_delta_sample_rate (const Parameter< double > & param) Set delta sample rate.

Public Functions inherited from inertialsim::sensors::SensorSpecification::DataInterface¶

See inertialsim::sensors::SensorSpecification::DataInterface

Type	Name
	DataInterface (int axes) Construct with default values.
const std::optional< Parameter< SpecificationArray > > &	quantization () const Get current quantization (if set).
const Parameter< double > &	sample_rate () const Get current sample rate.
void	set_quantization (const Parameter< T > & specification)
void	set_quantization (std::nullopt_t) Clear quantization.
void	set_sample_rate (const Parameter< double > & specification) Set sample rate.
virtual	~DataInterface () = default

Protected Attributes¶

Type	Name
std::optional< Parameter< SpecificationArray > >	delta_quantization_
Parameter< double >	delta_sample_rate_
int	delta_stride_ = `{}`

Protected Attributes inherited from inertialsim::sensors::SensorSpecification::DataInterface¶

See inertialsim::sensors::SensorSpecification::DataInterface

Type	Name
int	axes_
std::optional< Parameter< SpecificationArray > >	quantization_
Parameter< double >	sample_rate_

Protected Functions¶

Type	Name
virtual void	set_delta_quantization_impl (const Parameter< SpecificationArray > & param) = 0 Implementation of delta quantization setter. Must validate units and set delta_quantization_ member.

Protected Functions inherited from inertialsim::sensors::SensorSpecification::DataInterface¶

See inertialsim::sensors::SensorSpecification::DataInterface

Type	Name
virtual void	set_quantization_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of quantization setter. Must validate units and set quantization_ member.

Detailed Description¶

Adds delta sample rate and delta quantization to the base data interface.

Public Functions Documentation¶

function DataInterface¶

Construct with default values.

inline explicit inertialsim::sensors::InertialSensorSpecification::DataInterface::DataInterface (
    int axes
)

Initializes delta sample rate to 0 (disabled) and delta quantization to empty.

Parameters:

axes Number of sensor axes.

function delta_quantization¶

Get delta quantization (if set).

inline const std::optional< Parameter < SpecificationArray > > & inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_quantization () const

Returns:

Optional parameter with delta output quantization.

function delta_sample_rate¶

Get delta sample rate.

inline const Parameter < double > & inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_sample_rate () const

Returns:

Parameter with delta sample rate in Hz (0 if not set).

function delta_stride¶

Get delta stride (output decimation factor).

inline int inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_stride () const

Returns:

Delta sample rate as integer divisor of sample rate.

function set_delta_quantization [½]¶

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::DataInterface::set_delta_quantization (
    const Parameter < T > & param
)

function set_delta_quantization [2/2]¶

Clear delta (integrated) output quantization.

inline void inertialsim::sensors::InertialSensorSpecification::DataInterface::set_delta_quantization (
    std::nullopt_t
)

Parameters:

param std::nullopt to clear delta quantization.

function set_delta_sample_rate¶

Set delta sample rate.

void inertialsim::sensors::InertialSensorSpecification::DataInterface::set_delta_sample_rate (
    const Parameter < double > & param
)

Parameters:

param Parameter with units of Hz.

Exception:

std::invalid_argument if units are invalid or value is non-positive.

Protected Attributes Documentation¶

variable delta_quantization_¶

std::optional<Parameter<SpecificationArray> > inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_quantization_;

variable delta_sample_rate_¶

Parameter<double> inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_sample_rate_;

variable delta_stride_¶

int inertialsim::sensors::InertialSensorSpecification::DataInterface::delta_stride_;

Protected Functions Documentation¶

function set_delta_quantization_impl¶

Implementation of delta quantization setter. Must validate units and set delta_quantization_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::DataInterface::set_delta_quantization_impl (
    const Parameter < SpecificationArray > & param
) = 0

The documentation for this class was generated from the following file cpp/include/inertialsim/sensors/inertial_specification.h