Struct ImuPacket

Defined in File packet.h

Inheritance Relationships

Base Type

public ouster::sdk::core::Packet (Struct Packet)

Struct Documentation

struct ImuPacket : public ouster::sdk::core::Packet 

Encapsulate an imu packet buffer and attributes associated with it.

Public Functions

OUSTER_DIAGNOSTIC_POP ImuPacket(): Construct a new empty Imu Packet.

ImuPacket(int size)

Construct a new Imu packet with a pre-allocated size.

Parameters:: size[in] size in bytes to allocate

inline auto sys_ts() const

Read system timestamp from the packet.

Only available in PROFILE_IMU_LEGACY, otherwise returns 0.

Returns:: system timestamp

inline auto accel_ts() const

Read accelerometer timestamp from the packet.

Only available in PROFILE_IMU_LEGACY, otherwise returns 0.

Returns:: accelerometer timestamp

inline auto gyro_ts() const

Read gyroscope timestamp from the packet.

Only available in PROFILE_IMU_LEGACY, otherwise returns 0.

Returns:: gyroscope timestamp

inline std::string nmea_sentence() const

Read NMEA sentence from an IMU buffer.

Only available in PROFILE_ACCEL32_GYRO32_NMEA.

Returns:: nmea sentence string

inline uint64_t nmea_ts() const

Read nmea timestamp from the packet.

Only available in PROFILE_ACCEL32_GYRO32_NMEA, otherwise returns 0.

Returns:: nmea timestamp

Eigen::Array<float, Eigen::Dynamic, 3> accel() const

Get acceleration reads from imu packet.

Returns:: 2d array of accel readings in m/s^2

Eigen::Array<float, Eigen::Dynamic, 3> gyro() const

Get angular velocity reads from imu packet.

Returns:: 2d array of angular velocity readings in rad/sec

Eigen::Array<uint16_t, Eigen::Dynamic, 1> status() const

Get status of reads from imu packet.

0x1 for valid. Always returns (1,1) array of 0x1 with UDPProfileIMU::LEGACY.

Returns:: 1d array of statuses

Eigen::Array<uint64_t, Eigen::Dynamic, 1> timestamp() const

Get read timestamps from imu packet.

Always returns (1,1) array of 0 with UDPProfileIMU::LEGACY.

Returns:: 1d array of timestamps

Eigen::Array<uint16_t, Eigen::Dynamic, 1> measurement_id() const

Get correlated measurement ids from imu packet.

Always returns (1,1) array of 0 with UDPProfileIMU::LEGACY.

Returns:: 1d array of measurement ids

inline auto la_x() const

Read acceleration in X direction from the packet.

Only works with UDPProfileIMU::LEGACY.

Returns:: acceleration in the X direction

inline auto la_y() const

Read acceleration in Y direction from the packet.

Only works with UDPProfileIMU::LEGACY.

Returns:: acceleration in the Y direction

inline auto la_z() const

Read acceleration in Z direction from the packet.

Only works with UDPProfileIMU::LEGACY.

Returns:: acceleration in the Z direction

inline auto av_x() const

Read angular velocity on the X axis from the packet.

Only works with UDPProfileIMU::LEGACY.

Returns:: angular velocity on the X axis

inline auto av_y() const

Read angular velocity on the Y axis from the packet.

Only works with UDPProfileIMU::LEGACY.

Returns:: angular velocity on the Y axis

inline auto av_z() const

Read angular velocity on the Z axis from the packet.

Only works with PROFILE_IMU_LEGACY.

Returns:: angular velocity on the Z axis

Public Static Attributes

static const PacketType MY_TYPE = PacketType::Imu : PacketType enum for this packet type.

static OUSTER_DIAGNOSTIC_PUSH OUSTER_DIAGNOSTIC_IGNORE_UNUSED const PacketType my_type = PacketType::Imu

Deprecated:: Use MY_TYPE instead. This will be removed in a future release.