Class IMU

Defined in File IMU.hpp

Inheritance Relationships

Base Type

public dai::NodeCRTP< Node, IMU, IMUProperties > (Template Class NodeCRTP)

Class Documentation

class IMU : public dai::NodeCRTP<Node, IMU, IMUProperties>

IMU node for BNO08X.

Public Functions

IMU(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId): Constructs IMU node.

IMU(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)

void enableIMUSensor(IMUSensorConfig sensorConfig): Enable a new IMU sensor with explicit configuration

void enableIMUSensor(const std::vector<IMUSensorConfig> &sensorConfigs): Enable a list of IMU sensors with explicit configuration

void enableIMUSensor(IMUSensor sensor, uint32_t reportRate): Enable a new IMU sensor with default configuration

void enableIMUSensor(const std::vector<IMUSensor> &sensors, uint32_t reportRate): Enable a list of IMU sensors with default configuration

void setBatchReportThreshold(std::int32_t batchReportThreshold): Above this packet threshold data will be sent to host, if queue is not blocked

std::int32_t getBatchReportThreshold() const: Above this packet threshold data will be sent to host, if queue is not blocked

void setMaxBatchReports(std::int32_t maxBatchReports): Maximum number of IMU packets in a batch report

std::int32_t getMaxBatchReports() const: Maximum number of IMU packets in a batch report

void enableFirmwareUpdate(bool enable)

Public Members

Output out = {*this, "out", Output::Type::MSender, {{DatatypeEnum::IMUData, false}}}: Outputs IMUData message that carries IMU packets.

Public Static Attributes

static constexpr const char *NAME = "IMU"