47 #ifndef DW_SENSORS_IMU_IMU_H_ 48 #define DW_SENSORS_IMU_IMU_H_ 188 #endif // DW_SENSORS_IMU_IMU_H_ NVIDIA DriveWorks API: Core Types
Value of dwIMUFrame.turnrate[2] is valid.
float64_t magnetometer[3]
Measurement of the magnetometer unit in X, Y, and Z directions [utesla].
dwIMUFlags
Each flag shows if that value is valid in this IMU frame.
Value of dwIMUFrame.orientation[2] is valid.
dwQuaterniond orientationQuaternion
Quaternion representation (x, y, z, w) of the orientation returned by the IMU.
Defines a double-precision quaternion.
Value of dwIMUFrame.magnetometer[1] is valid.
Value of dwIMUFrame.turnrate[1] is valid.
dwTime_t timestamp_us
Timestamp for the current message. Indicates when it's first received [usec].
Value of dwIMUFrame.magnetometer[0] is valid.
DW_API_PUBLIC dwStatus dwSensorIMU_popFrame(dwIMUFrame *frame, dwSensorHandle_t sensor)
Returns any IMU data previously processed through the raw data stream.
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
Value of dwIMUFrame.acceleration[1] is valid.
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
Value of dwIMUFrame.heading is valid.
float64_t acceleration[3]
Acceleration in X, Y, and Z directions [m/s^2].
Value of dwIMUFrame.orientation[0] is valid.
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
uint32_t flags
The flags to show which values are valid in this IMU frame.
!< Value of dwIMUFrame.orientationQuaternion.w is valid.
An IMU frame containing sensor readings from the IMU sensor.
Value of dwIMUFrame.orientation[1] is valid.
Value of dwIMUFrame.acceleration[2] is valid.
!< Value of dwIMUFrame.orientationQuaternion.x is valid.
!< Value of dwIMUFrame.orientationQuaternion.y is valid.
DW_API_PUBLIC dwStatus dwSensorIMU_processRawData(uint8_t const *data, size_t size, dwSensorHandle_t sensor)
Reads the IMU frame from raw data.
!< Value of dwIMUFrame.orientationQuaternion.z is valid.
float64_t heading
Heading of the IMU measured in respect to the ENU system [degrees], i.e., compass.
DW_API_PUBLIC dwStatus dwSensorIMU_readFrame(dwIMUFrame *frame, dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads the next IMU frame from the sensor within a given timeout.
Value of dwIMUFrame.magnetometer[2] is valid.
Value of dwIMUFrame.acceleration[0] is valid.
dwIMUHeadingType
Types of the heading degree.
float64_t turnrate[3]
Roll, pitch, and yaw turn rate (i.e., gyroscope)[rad/s].
dwIMUHeadingType headingType
Type of the heading information.
float64_t orientation[3]
Roll, pitch, and yaw angle of the orientation returned by the IMU [degree].
NVIDIA DriveWorks API: Core Exports