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

[Javier Hidalgo Carrió]

Thanks to all the inputs.

The solution took so far is:

1) Added base::Temperature in types/base. Similar to base::Angle but 
with a timestamp (base::Time).

2) I used base::RigidBodyAcceleration for inclinometers output.

Javier.

On 09/25/2012 05:22 PM, Jakob Schwendner wrote:
>
> ---------- Original Message ----------
> From: Jakob Schwendner <jakob.schwendner at dfki.de>
> To: Matthias Goldhoorn <matthias.goldhoorn at dfki.de>
> Date: September 25, 2012 at 5:21 PM
> Subject: Re: [Rock-dev] Fwd: Re: IMUSensor - temperature and 
> inclinometers values
>
> On September 25, 2012 at 3:32 PM Matthias Goldhoorn 
> <matthias.goldhoorn at dfki.de> wrote:
> > 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
> > >
> > >
> > > _______________________________________________
> > > Rock-dev mailing list
> > > Rock-dev at dfki.de
> > > http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
> > 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?
> Don't see why it should come with a description. It's not that we have 
> datums floating around without knowing where they are coming from. For 
> the temperature we could have a type like base::Angle, which stores 
> the temperature in canonical form (which could be Kelvin).
> Jakob
> -- 
> Jakob Schwendner, M.Sc.
> Researcher
>
> DFKI Bremen
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>
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-- 
Javier Hidalgo Carrió
ESA - NPI Programme
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
http://robotik.dfki-bremen.de

Phone:+49(0)421 17845 6661
Fax: +49(0)421 17845 4150

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