com.mbientlab.metawear.module

Interface SensorFusionBosch

All Superinterfaces:

Configurable<SensorFusionBosch.ConfigEditor>, MetaWearBoard.Module

public interface SensorFusionBosch
extends MetaWearBoard.Module, Configurable<SensorFusionBosch.ConfigEditor>

Algorithm combining accelerometer, gyroscope, and magnetometer data for Bosch sensors. When using sensor fusion, do not configure the accelerometer, gyro, and magnetometer with their respective interface; the algorithm will automatically configure those sensors based on the selected fusion mode.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	SensorFusionBosch.AccRange Supported data ranges for accelerometer data
static class	SensorFusionBosch.CalibrationAccuracy Accuracy of the correct sensor data
static class	SensorFusionBosch.CalibrationData Tuple class holding the IMU calibration data
static class	SensorFusionBosch.CalibrationState Tuple wrapping the calibration state of the IMU sensors
static interface	SensorFusionBosch.CalibrationStateUpdateHandler Handler for processing download updates
static interface	SensorFusionBosch.ConfigEditor Configuration editor for the sensor fusion algorithm
static class	SensorFusionBosch.CorrectedAcceleration Container class holding corrected acceleration data, in units of g's
static class	SensorFusionBosch.CorrectedAngularVelocity Container class holding corrected angular velocity data, in degrees per second
static class	SensorFusionBosch.CorrectedMagneticField Container class holding corrected magnetic field strength data, in micro teslas
static class	SensorFusionBosch.GyroRange Supported data ranges for gyro data
static class	SensorFusionBosch.Mode Available sensor fusion modes

Method Summary

Modifier and Type	Method and Description
bolts.Task<SensorFusionBosch.CalibrationData>	calibrate(bolts.CancellationToken ct) Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with polling period set to 1000ms and no calibration state updates
bolts.Task<SensorFusionBosch.CalibrationData>	calibrate(bolts.CancellationToken ct, long pollingPeriod) Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with no calibration state updates
bolts.Task<SensorFusionBosch.CalibrationData>	calibrate(bolts.CancellationToken ct, long pollingPeriod, SensorFusionBosch.CalibrationStateUpdateHandler updateHandler) Convenience method to continuously poll the calibration state until the required IMUs are in a high accuracy state
bolts.Task<SensorFusionBosch.CalibrationData>	calibrate(bolts.CancellationToken ct, SensorFusionBosch.CalibrationStateUpdateHandler updateHandler) Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with polling period set to 1000ms
AsyncDataProducer	correctedAcceleration() Get an implementation of the AsyncDataProducer interface for corrected acceleration data, represented by the SensorFusionBosch.CorrectedAcceleration class.
AsyncDataProducer	correctedAngularVelocity() Get an implementation of the AsyncDataProducer interface for corrected angular velocity data, represented by the SensorFusionBosch.CorrectedAngularVelocity class.
AsyncDataProducer	correctedMagneticField() Get an implementation of the AsyncDataProducer interface for corrected magnetic field data, represented by the SensorFusionBosch.CorrectedMagneticField class.
AsyncDataProducer	eulerAngles() Get an implementation of the AsyncDataProducer interface for euler angles, represented by the EulerAngles class.
AsyncDataProducer	gravity() Get an implementation of the AsyncDataProducer interface for the acceleration from gravity vector, represented by the Acceleration class.
AsyncDataProducer	linearAcceleration() Get an implementation of the AsyncDataProducer interface for linear acceleration, represented by the Acceleration class.
bolts.Task<java.lang.Void>	pullConfigAsync() Pulls the current sensor fusion configuration from the sensor
AsyncDataProducer	quaternion() Get an implementation of the AsyncDataProducer interface for quaternion data, represented by the Quaternion class.
bolts.Task<SensorFusionBosch.CalibrationState>	readCalibrationStateAsync() Reads the current calibration state from the sensor fusion algorithm.
boolean	resetOrientation() Reset the default orientation of the board.
void	start() Start the algorithm
void	stop() Stop the algorithm
void	writeCalibrationData(SensorFusionBosch.CalibrationData data) Writes calibration data to the sensor fusion algorithm, only for firmware v1.4.2+.

Methods inherited from interface com.mbientlab.metawear.Configurable

configure

Method Detail

correctedAcceleration

AsyncDataProducer correctedAcceleration()

Get an implementation of the AsyncDataProducer interface for corrected acceleration data, represented by the SensorFusionBosch.CorrectedAcceleration class.

Returns:

AsyncDataProducer Object for corrected acceleration data

correctedAngularVelocity

AsyncDataProducer correctedAngularVelocity()

Get an implementation of the AsyncDataProducer interface for corrected angular velocity data, represented by the SensorFusionBosch.CorrectedAngularVelocity class.

Returns:

AsyncDataProducer Object for corrected angular velocity data

correctedMagneticField

AsyncDataProducer correctedMagneticField()

Get an implementation of the AsyncDataProducer interface for corrected magnetic field data, represented by the SensorFusionBosch.CorrectedMagneticField class.

Returns:

AsyncDataProducer Object for corrected magnetic field data

quaternion

AsyncDataProducer quaternion()

Get an implementation of the AsyncDataProducer interface for quaternion data, represented by the Quaternion class.

Returns:

AsyncDataProducer Object for quaternion data

eulerAngles

AsyncDataProducer eulerAngles()

Get an implementation of the AsyncDataProducer interface for euler angles, represented by the EulerAngles class.

Returns:

AsyncDataProducer Object for euler angles

gravity

AsyncDataProducer gravity()

Get an implementation of the AsyncDataProducer interface for the acceleration from gravity vector, represented by the Acceleration class.

Returns:

AsyncDataProducer Object for acceleration from gravity

linearAcceleration

AsyncDataProducer linearAcceleration()

Get an implementation of the AsyncDataProducer interface for linear acceleration, represented by the Acceleration class.

Returns:

AsyncDataProducer Object for linear acceleration

start

void start()

Start the algorithm

stop

void stop()

Stop the algorithm

pullConfigAsync

bolts.Task<java.lang.Void> pullConfigAsync()

Pulls the current sensor fusion configuration from the sensor

Returns:

Task that is completed when the settings are received

readCalibrationStateAsync

bolts.Task<SensorFusionBosch.CalibrationState> readCalibrationStateAsync()

Reads the current calibration state from the sensor fusion algorithm. This function cannot be called until the sensor fusion algorithm is running and is only available on firmware v1.4.1 and newer.

Returns:

Task containing the calibration status

calibrate

bolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct,
                                                        long pollingPeriod,
                                                        SensorFusionBosch.CalibrationStateUpdateHandler updateHandler)

Convenience method to continuously poll the calibration state until the required IMUs are in a high accuracy state

Parameters:

ct - The cancellation token that will be checked before reading the calibration state

pollingPeriod - How frequently poll the calibration state in milliseconds

updateHandler - Handler for calibration state updates

Returns:

Task containing the calibration data

calibrate

bolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct,
                                                        SensorFusionBosch.CalibrationStateUpdateHandler updateHandler)

Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with polling period set to 1000ms

Parameters:

ct - The cancellation token that will be checked before reading the calibration state

updateHandler - Handler for calibration state updates

Returns:

@return Task containing the calibration data

calibrate

bolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct,
                                                        long pollingPeriod)

Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with no calibration state updates

Parameters:

ct - The cancellation token that will be checked before reading the calibration state

pollingPeriod - How frequently poll the calibration state in milliseconds

Returns:

@return Task containing the calibration data

calibrate

bolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct)

Variant of calibrate(CancellationToken, long, CalibrationStateUpdateHandler) with polling period set to 1000ms and no calibration state updates

Parameters:

ct - The cancellation token that will be checked before reading the calibration state

Returns:

@return Task containing the calibration data

writeCalibrationData

void writeCalibrationData(SensorFusionBosch.CalibrationData data)

Writes calibration data to the sensor fusion algorithm, only for firmware v1.4.2+. Combine this function with the Macro module to write the data at boot time

Parameters:

data - Calibration data returned from the calibrate function

resetOrientation

boolean resetOrientation()

Reset the default orientation of the board. Works while sensor fusion is running or off. Works for NDOF and IMUPLUS only.

Returns:

True if feature is supported, false if not supported