Struct ImuPacket¶

Defined in File packet.h

Inheritance Relationships¶

Base Type¶

public ouster::sdk::core::PacketStruct Packet

Struct Documentation¶

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

Encapsulate an imu packet buffer and attributes associated with it.

Public Functions

ImuPacket()¶

Construct a new empty Imu Packet.

Deprecated:: Use ImuPacket(std::shared_ptr<PacketFormat>) instead. The last supported version for this will be 1.0.0 .

ImuPacket(int size)¶

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

Deprecated:: Use ImuPacket(std::shared_ptr<PacketFormat>) instead. The last supported version for this will be 1.0.0 .

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

ImuPacket(std::shared_ptr<PacketFormat> format)¶

Construct a new Imu packet with a known format.

Parameters:: format[in] the packet format to use for parsing this packet.

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.

For UDPProfileIMU::LEGACY a (1,1) array representing gyro_ts is returned.

Returns:: 1d array of timestamps

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

Get correlated measurement ids from imu packet.

For UDPProfileIMU::LEGACY a (1,1) array of 0 is returned.

Returns:: 1d array of measurement ids

Public Static Attributes

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