Roboception rc visard Bedienungsanleitung Seite 212

message Imu
{
optional
captured
optional
2
s measured by the IMU
optional
s measured by the IMU
}
• Die enthaltenen Nachrichtentypen
wie folgt definiert:
message PoseStamped
{
optional
optional
}
message Pose
{
optional
optional
repeated
representation of the 6x6 covariance matrix (x, y, z, rotation about X axis,
rotation about Y axis, rotation about Z axis)
}
message Time
{
/// \brief Seconds
optional
/// \brief Nanoseconds
optional
}
message Quaternion
{
optional
optional
optional
optional
}
message Vector3d
{
optional
optional
optional
}
8.3.4 Die rc_dynamics-Programmierschnittstelle
rc _ dynamics _ api
Das Open-Source-
rc_dynamics-Datenströme angefragt und geparst werden können. Siehe http://www.roboception.com/download.
8.3. Die rc_dynamics-Schnittstelle
Time timestamp
linear _ acceleration
Vector3d
angular _ velocity
Vector3d
PoseStamped
Time timestamp = 1; // Time when the data was captured
Pose pose = 2;
Vector3d position
Quaternion orientation
double covariance
sec = 1;
int64
nsec = 2;
int32
double x = 2;
double y = 3;
double z = 4;
double w = 5;
double x = 1;
double y = 2;
double z = 3;
-Paket bietet einen einfachen, benutzerfreundlichen C++-Wrapper, mit dem
= 1; // Time when the data was
= 2; // Linear acceleration in m/
= 3; // Angular velocity in rad/
, Pose , Time , Quaternion
= 1; // Position in meters
= 2; // Orientation as unit quaternion
= 3 [packed=true]; // Row-major
und Vector3D werden
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