[Rock-dev] Fwd: Re: IMUSensor - temperature and inclinometers values

[Matthias Goldhoorn]

On 25.09.2012 15:12, Jakob Schwendner wrote:
> On 09/25/2012 02:47 PM, Alexander Duda wrote:
>>   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.
> +1
> Same for inclinometer. I would process the values in the driver module
> already. Just add additional output ports to the module.
>
> Jakob
>
>
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We should at this point think about an mapping where the temp is 
recorded, some "name", i mean in general for this case it is clear that 
the imu itself output's the temp.
But if we had an general temp-measrument device, this device could be 
everywhere, so if we now add an new temperature  (in kelvin!) we should 
ad also an string with an description.  But in general it is this again 
an base-type?



-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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