Issues configuring sensor_fusion using g++ in Ubuntu on the MetaHub

edited October 19 in C++

I'm trying to execute the following code (configure_sensor_fusion.c):

#include "/home/pi/Apps/MetaBase/node_modules/metawear/MetaWear-SDK-Cpp/src/metawear/sensor/sensor_fusion.h"

int main() {
    return 0;
}

void configure_sensor_fusion(MblMwMetaWearBoard* board) {
    // set fusion mode to ndof (n degress of freedom)
    mbl_mw_sensor_fusion_set_mode(board, MBL_MW_SENSOR_FUSION_MODE_NDOF);
    // set acceleration rangen to +/-8G, note accelerometer is configured here
    mbl_mw_sensor_fusion_set_acc_range(board, MBL_MW_SENSOR_FUSION_ACC_RANGE_8G);
    // write changes to the board
    mbl_mw_sensor_fusion_write_config(board);
}

using this g++ command:

g++ configure_sensor_fusion.c -o configure_sensor_fusion

Whenever I do this I get an "undefined reference to.." error for the three functions in configure_sensor_fusion(MblMwMetaWearBoard* board). Here is the sensor_fusion.h file for reference.

/**
 * @copyright MbientLab License
 * @file sensor_fusion.h
 * @brief Performs sensor fusion using accelerometer, gyro, and magnetometer data
 * @details When using the sensor fusion module, do not use the accelerometer, gyro, and magnetometer functions.  
 * The api will automatically configure the sensors based on the selected fusion mode.
 */
#pragma once

#include "sensor_common.h"

#ifdef  __cplusplus
extern "C" {
#endif

const uint8_t MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_UNRELIABLE = 0,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_LOW = 1,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_MEDIUM = 2,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH = 3;

/**
 * Fusion modes supported by the algorithm
 */
typedef enum {
    MBL_MW_SENSOR_FUSION_MODE_SLEEP = 0,
    MBL_MW_SENSOR_FUSION_MODE_NDOF,
    MBL_MW_SENSOR_FUSION_MODE_IMU_PLUS,
    MBL_MW_SENSOR_FUSION_MODE_COMPASS,
    MBL_MW_SENSOR_FUSION_MODE_M4G
} MblMwSensorFusionMode;

/**
 * Supported acceleration ranges
 */
typedef enum {
    MBL_MW_SENSOR_FUSION_ACC_RANGE_2G = 0,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_4G,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_8G,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_16G
} MblMwSensorFusionAccRange;

/**
 * Supported rotation ranges
 */
typedef enum {
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_2000DPS = 0,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_1000DPS,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_500DPS,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_250DPS
} MblMwSensorFusionGyroRange;

/**
 * Data computed by the algorithm
 */
typedef enum {
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_ACC = 0,
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_GYRO,
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_MAG,
    MBL_MW_SENSOR_FUSION_DATA_QUATERNION,
    MBL_MW_SENSOR_FUSION_DATA_EULER_ANGLE,
    MBL_MW_SENSOR_FUSION_DATA_GRAVITY_VECTOR,
    MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC
} MblMwSensorFusionData;

/**
 * Get the data signal object representing data from the sensor fusion algorithm
 * @param board         Calling object
 * @param data          Desired sensor fusion data
 * @return Data signal object  
 */
METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_get_data_signal(const MblMwMetaWearBoard* board, MblMwSensorFusionData data);
/**
 * Get the data signal object representing thecalibration state.  This signal can only be used while the sensor fusion algorithm is running
 * @param board         Calling object
 * @return Data signal object  
 */
METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_calibration_state_data_signal(const MblMwMetaWearBoard* board);

/**
 * Set the operation mode
 * @param board         Calling object
 * @param mode          New operation mode
 */
METAWEAR_API void mbl_mw_sensor_fusion_set_mode(MblMwMetaWearBoard* board, MblMwSensorFusionMode mode);
/**
 * Set the accelerometer data range
 * @param board         Calling object
 * @param range         New data range of the accelerometer
 */
METAWEAR_API void mbl_mw_sensor_fusion_set_acc_range(MblMwMetaWearBoard* board, MblMwSensorFusionAccRange range);
/**
 * Set the gyroscope data range
 * @param board         Calling object
 * @param range         New data range of the gyroscope
 */
METAWEAR_API void mbl_mw_sensor_fusion_set_gyro_range(MblMwMetaWearBoard* board, MblMwSensorFusionGyroRange range);
/**
 * Write the module configuration to the board
 * @param board         Calling object
 */
METAWEAR_API void mbl_mw_sensor_fusion_write_config(MblMwMetaWearBoard* board);
/**
 * Pulls the current sensor fusion configuration from the board
 * @param board         Calling object
 * @param context       Pointer to additional data for the callback function
 * @param completed     Callback function that is executed when the task is finished
 */
METAWEAR_API void mbl_mw_sensor_fusion_read_config(const MblMwMetaWearBoard* board, void *context, MblMwFnBoardPtrInt completed);

/**
 * Set a data enable bit
 * @param board         Calling object
 * @param data          Sensor fuson data to enable
 */
METAWEAR_API void mbl_mw_sensor_fusion_enable_data(MblMwMetaWearBoard* board, MblMwSensorFusionData data);
/**
 * Clear all data enable bits
 * @param board         Calling object
 */
METAWEAR_API void mbl_mw_sensor_fusion_clear_enabled_mask(MblMwMetaWearBoard* board);

/**
 * Start sensor fusion
 * @param board         Calling object
 */
METAWEAR_API void mbl_mw_sensor_fusion_start(const MblMwMetaWearBoard* board);
/**
 * Stop sensor fusion
 * @param board         Calling object
 */
METAWEAR_API void mbl_mw_sensor_fusion_stop(const MblMwMetaWearBoard* board);

#ifdef  __cplusplus
}
#endif

Any suggestions?

Comments

  • Just hardcode the #. Otherwise you have to include the reference file.

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