imustruc Struct Reference

Inertial Measurement Unit (IMU) structure. More...

#include <jsondef.h>

Collaboration diagram for imustruc:

Public Member Functions
json11::Json	to_json () const
	Convert class contents to JSON object. More...
void	from_json (const string &s)
	Set class contents from JSON string. More...

Public Attributes
quaternion	align
	alignment quaternion More...
rvector	accel
	Position acceleration vector. More...
quaternion	theta
	Attitude quaternion. More...
avector	euler
	Attitude Euler angles. More...
rvector	omega
	Attitude rate vector. More...
rvector	alpha
	Attitude acceleration vector. More...
rvector	mag
	Magnetic field in sensor frame. More...
rvector	bdot
	Magnetic field rate change in sensor frame. More...

Detailed Description

Inertial Measurement Unit (IMU) structure.

Member Function Documentation

json11::Json imustruc::to_json ( ) const

inline

Convert class contents to JSON object.

Returns a json11 JSON object of the class

Returns

A json11 JSON object containing every member variable within the class

                               {
        return json11::Json::object {
            { "align" , align },
            { "accel" , accel },
            { "theta" , theta },
            { "euler" , euler },
            { "omega" , omega },
            { "alpha" , alpha },
            { "mag"   , mag },
            { "bdot"  , bdot }
        };
    }

void imustruc::from_json ( const string &  s )

inline

Set class contents from JSON string.

Parses the provided JSON-formatted string and sets the class data. String should be formatted like the string returned from to_json()

Parameters

s	JSON-formatted string to set class contents to

Returns

n/a

                                    {
        string error;
        json11::Json parsed = json11::Json::parse(s,error);
        if(error.empty()) {
            if(!parsed["align"].is_null()) { align.from_json(parsed["align"].dump()); }
            if(!parsed["accel"].is_null()) { accel.from_json(parsed["accel"].dump()); }
            if(!parsed["theta"].is_null()) { theta.from_json(parsed["theta"].dump()); }
            if(!parsed["euler"].is_null()) { euler.from_json(parsed["euler"].dump()); }
            if(!parsed["omega"].is_null()) { omega.from_json(parsed["omega"].dump()); }
            if(!parsed["alpha"].is_null()) { alpha.from_json(parsed["alpha"].dump()); }
            if(!parsed["mag"].is_null()) { mag.from_json(parsed["mag"].dump()); }
            if(!parsed["bdot"].is_null()) { bdot.from_json(parsed["bdot"].dump()); }
        } else {
            cerr<<"ERROR: <"<<error<<">"<<endl;
        }
        return;
    }

Member Data Documentation

quaternion imustruc::align

alignment quaternion

rvector imustruc::accel

Position acceleration vector.

quaternion imustruc::theta

Attitude quaternion.

avector imustruc::euler

Attitude Euler angles.

rvector imustruc::omega

Attitude rate vector.

rvector imustruc::alpha

Attitude acceleration vector.

rvector imustruc::mag

Magnetic field in sensor frame.

rvector imustruc::bdot

Magnetic field rate change in sensor frame.

---

The documentation for this struct was generated from the following file:

• jsondef.h