public interface SensorFusionBosch extends MetaWearBoard.Module, Configurable<SensorFusionBosch.ConfigEditor>
Modifier and Type | Interface and Description |
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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
|
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+.
|
configure
AsyncDataProducer correctedAcceleration()
SensorFusionBosch.CorrectedAcceleration
class.AsyncDataProducer correctedAngularVelocity()
SensorFusionBosch.CorrectedAngularVelocity
class.AsyncDataProducer correctedMagneticField()
SensorFusionBosch.CorrectedMagneticField
class.AsyncDataProducer quaternion()
Quaternion
class.AsyncDataProducer eulerAngles()
EulerAngles
class.AsyncDataProducer gravity()
Acceleration
class.AsyncDataProducer linearAcceleration()
Acceleration
class.void start()
void stop()
bolts.Task<java.lang.Void> pullConfigAsync()
bolts.Task<SensorFusionBosch.CalibrationState> readCalibrationStateAsync()
bolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct, long pollingPeriod, SensorFusionBosch.CalibrationStateUpdateHandler updateHandler)
ct
- The cancellation token that will be checked before reading the calibration statepollingPeriod
- How frequently poll the calibration state in millisecondsupdateHandler
- Handler for calibration state updatesbolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct, SensorFusionBosch.CalibrationStateUpdateHandler updateHandler)
calibrate(CancellationToken, long, CalibrationStateUpdateHandler)
with polling period set to 1000msct
- The cancellation token that will be checked before reading the calibration stateupdateHandler
- Handler for calibration state updatesbolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct, long pollingPeriod)
calibrate(CancellationToken, long, CalibrationStateUpdateHandler)
with no calibration state updatesct
- The cancellation token that will be checked before reading the calibration statepollingPeriod
- How frequently poll the calibration state in millisecondsbolts.Task<SensorFusionBosch.CalibrationData> calibrate(bolts.CancellationToken ct)
calibrate(CancellationToken, long, CalibrationStateUpdateHandler)
with polling period set to 1000ms and no calibration state updatesct
- The cancellation token that will be checked before reading the calibration statevoid writeCalibrationData(SensorFusionBosch.CalibrationData data)
Macro
module to write the data at boot timedata
- Calibration data returned from the calibrate
functionboolean resetOrientation()