[Rock-dev] IMUSensor - temperature and inclinometers values

[Alexander Duda]

On 09/25/2012 02:43 PM, Janosch Machowinski wrote:
> On 25.09.2012 14:32, Javier Hidalgo Carrió wrote:
>> Dear all,
>>
>> I am integrating a new IMU in rock, which gives also Inclinometers
>> (m/s^2) and temperature (Celsius Degrees).
>> The current IMUSensor structure allows:
>>
>>             /** Timestamp of the orientation reading */
>>            Time time;
>>
>>            /** raw accelerometer readings */
>>            base::Vector3d acc;
>>
>>            /** raw gyro reading*/
>>            base::Vector3d gyro;
>>
>>            /** raw magnetometer reading*/
>>            base::Vector3d mag;
>>
>> My question is:
>>
>> 1) To extend IMUSensor in base/samples/imu.h to have temperature (like
>> the Xsens also gives) and inclinometers (it is given for better initial
>> leveling)
>> 2) Create a new data struct in my rock-driver i.e IMUSensorExtend
>> structure to this IMU.
>>
>> Which is the best?
>>
>> Thanks,
>>
>> Javier.
>>
> 1) sound like the better option to me.
>       Janosch
>
The temperature gradient will be much slower than the other values and 
you could also have n temperature sensors for your System affecting the 
IMU. Therefore I would go for a generic temperature structure. This 
would also improves the overall monitoring of your system as all 
temperatures can be displayed by a generic widget.

Alex

-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

DFKI Bremen
Robotics Innovation Center
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