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xsensmvn component

Receive streaming data from Xsens MVN motion capture software.

Ports

segments (multiple out)

Data structure

  • struct ::or_pose_estimator::state segments

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

Provides segment measurements.

Services

get_localhost (attribute)

Outputs

  • struct ::xsensmvn::localhost_s localhost

    • string<128> host

    • string<16> port

Get the UDP port on which the socket receiving data is bound.

connect (activity)

Inputs

  • string<128> host (default "localhost") Xsens MVN host name

  • string<128> port (default "6004") Remote control port
Throws

  • exception ::xsensmvn::e_sys

    • short code

    • string<128> what
Context

Connect to the Xsens MVN software

disconnect (activity)

Context

Disconnect from the Xsens MVN software

set_localhost (activity)

Inputs

  • struct ::xsensmvn::localhost_s newhost

    • string<128> host

    • string<16> port
Throws

  • exception ::xsensmvn::e_sys

    • short code

    • string<128> what
Context

Set the UDP port and IP address to stream to.

log (function)

Inputs

  • string<64> path (default "/tmp/xsensmvn.log") Log file name
Throws

  • exception ::xsensmvn::e_sys

    • short code

    • string<128> what

Log segment data

log_stop (function)

Stop logging

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

Tasks

cmd

Context

  • Free running

recv

Context
Throws

  • exception ::xsensmvn::e_sys

    • short code

    • string<128> what