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<br/>---------- Original Message ----------
<br/>From: Jakob Schwendner <jakob.schwendner@dfki.de>
<br/>To: Matthias Goldhoorn <matthias.goldhoorn@dfki.de>
<br/>Date: September 25, 2012 at 5:21 PM
<br/>Subject: Re: [Rock-dev] Fwd: Re: IMUSensor - temperature and inclinometers values
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<br/>On September 25, 2012 at 3:32 PM Matthias Goldhoorn <matthias.goldhoorn@dfki.de> wrote:
<br/>> On 25.09.2012 15:12, Jakob Schwendner wrote:
<br/>> > On 09/25/2012 02:47 PM, Alexander Duda wrote:
<br/>> >> On 09/25/2012 02:43 PM, Janosch Machowinski wrote:
<br/>> >>> On 25.09.2012 14:32, Javier Hidalgo Carrió wrote:
<br/>> >>>> Dear all,
<br/>> >>>>
<br/>> >>>> I am integrating a new IMU in rock, which gives also Inclinometers
<br/>> >>>> (m/s^2) and temperature (Celsius Degrees).
<br/>> >>>> The current IMUSensor structure allows:
<br/>> >>>>
<br/>> >>>> /** Timestamp of the orientation reading */
<br/>> >>>> Time time;
<br/>> >>>>
<br/>> >>>> /** raw accelerometer readings */
<br/>> >>>> base::Vector3d acc;
<br/>> >>>>
<br/>> >>>> /** raw gyro reading*/
<br/>> >>>> base::Vector3d gyro;
<br/>> >>>>
<br/>> >>>> /** raw magnetometer reading*/
<br/>> >>>> base::Vector3d mag;
<br/>> >>>>
<br/>> >>>> My question is:
<br/>> >>>>
<br/>> >>>> 1) To extend IMUSensor in base/samples/imu.h to have temperature (like
<br/>> >>>> the Xsens also gives) and inclinometers (it is given for better initial
<br/>> >>>> leveling)
<br/>> >>>> 2) Create a new data struct in my rock-driver i.e IMUSensorExtend
<br/>> >>>> structure to this IMU.
<br/>> >>>>
<br/>> >>>> Which is the best?
<br/>> >>>>
<br/>> >>>> Thanks,
<br/>> >>>>
<br/>> >>>> Javier.
<br/>> >>>>
<br/>> >>> 1) sound like the better option to me.
<br/>> >>> Janosch
<br/>> >>>
<br/>> >> The temperature gradient will be much slower than the other values and
<br/>> >> you could also have n temperature sensors for your System affecting the
<br/>> >> IMU. Therefore I would go for a generic temperature structure. This
<br/>> >> would also improves the overall monitoring of your system as all
<br/>> >> temperatures can be displayed by a generic widget.
<br/>> > +1
<br/>> > Same for inclinometer. I would process the values in the driver module
<br/>> > already. Just add additional output ports to the module.
<br/>> >
<br/>> > Jakob
<br/>> >
<br/>> >
<br/>> > _______________________________________________
<br/>> > Rock-dev mailing list
<br/>> > Rock-dev@dfki.de
<br/>> > http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
<br/>> We should at this point think about an mapping where the temp is
<br/>> recorded, some "name", i mean in general for this case it is clear that
<br/>> the imu itself output's the temp.
<br/>> But if we had an general temp-measrument device, this device could be
<br/>> everywhere, so if we now add an new temperature (in kelvin!) we should
<br/>> ad also an string with an description. But in general it is this again
<br/>> an base-type?
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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).
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Jakob
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--
<br/>Jakob Schwendner, M.Sc.
<br/>Researcher
<br/>
<br/>DFKI Bremen
<br/>Robotics Innovation Center
<br/>Robert-Hooke-Straße 5
<br/>28359 Bremen, Germany
<br/>
<br/>Phone: +49 (0)421 17845-4120
<br/>Fax: +49 (0)421 17845-4150
<br/>E-Mail: jakob.schwendner@dfki.de
<br/>
<br/>Weitere Informationen: http://www.dfki.de/robotik
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