SensorEvent Struct Reference

Container for a single decoded SH-2 sensor report. More...

#include <bno08x.hpp>

Collaboration diagram for SensorEvent:

Public Attributes
BNO085Sensor	sensor {BNO085Sensor::Accelerometer}
	Which sensor produced this event.
uint64_t	timestamp {0}
	Event timestamp in microseconds.
Vector3	vector {}
	3-axis data (accel/gyro/mag/gravity/etc.)
Vector3	bias {}
	Bias for uncalibrated gyro/mag reports.
Vector3	angularVelocity {}
	Angular velocity for GyroIntegratedRV.
Quaternion	rotation {}
	Quaternion data (rotation vector reports)
float	scalar {0}
	Scalar payload (pressure/light/humidity/temp/etc.)
RawVector3	raw {}
	Raw integer payload for raw IMU reports.
uint32_t	latencyUs {0}
	Latency for step detector/counter reports.
uint32_t	stepCount {0}
	Cumulative step count (StepCounter)
uint16_t	eventFlags {0}
	Bitfield payload for gesture detector reports.
uint8_t	classification {0}
	Classifier result (stability/activity, etc.).
uint8_t	sleepState {0}
	Sleep detector state.
TapEvent	tap {}
	Tap event details (TapDetector)
ActivityClassifierEvent	activity {}
	Personal activity classifier payload.
uint8_t	motionIntent {0}
	Interactive ZRO motion intent.
uint8_t	motionRequest {0}
	Interactive ZRO motion request.
RawOpticalFlowEvent	rawOpticalFlow {}
DeadReckoningPoseEvent	deadReckoningPose {}
WheelEncoderEvent	wheelEncoder {}
bool	detected {false}
	Generic detection flag for event-like reports.

Detailed Description

Container for a single decoded SH-2 sensor report.

Which fields are populated depends on the sensor type:

• vector sensors fill vector (and bias for uncalibrated reports)
• quaternion sensors fill rotation
• scalar sensors fill scalar
• detector/classifier sensors use detected, eventFlags, and related fields
• advanced reports fill rawOpticalFlow, deadReckoningPose, etc.

Member Data Documentation

activity

ActivityClassifierEvent SensorEvent::activity {}

Personal activity classifier payload.

angularVelocity

Vector3 SensorEvent::angularVelocity {}

Angular velocity for GyroIntegratedRV.

bias

Vector3 SensorEvent::bias {}

Bias for uncalibrated gyro/mag reports.

classification

uint8_t SensorEvent::classification {0}

Classifier result (stability/activity, etc.).

deadReckoningPose

DeadReckoningPoseEvent SensorEvent::deadReckoningPose {}

detected

bool SensorEvent::detected {false}

Generic detection flag for event-like reports.

eventFlags

uint16_t SensorEvent::eventFlags {0}

Bitfield payload for gesture detector reports.

latencyUs

uint32_t SensorEvent::latencyUs {0}

Latency for step detector/counter reports.

motionIntent

uint8_t SensorEvent::motionIntent {0}

Interactive ZRO motion intent.

motionRequest

uint8_t SensorEvent::motionRequest {0}

Interactive ZRO motion request.

raw

RawVector3 SensorEvent::raw {}

Raw integer payload for raw IMU reports.

rawOpticalFlow

RawOpticalFlowEvent SensorEvent::rawOpticalFlow {}

rotation

Quaternion SensorEvent::rotation {}

Quaternion data (rotation vector reports)

scalar

float SensorEvent::scalar {0}

Scalar payload (pressure/light/humidity/temp/etc.)

sensor

BNO085Sensor SensorEvent::sensor {BNO085Sensor::Accelerometer}

Which sensor produced this event.

sleepState

uint8_t SensorEvent::sleepState {0}

Sleep detector state.

stepCount

uint32_t SensorEvent::stepCount {0}

Cumulative step count (StepCounter)

tap

TapEvent SensorEvent::tap {}

Tap event details (TapDetector)

timestamp

uint64_t SensorEvent::timestamp {0}

Event timestamp in microseconds.

vector

Vector3 SensorEvent::vector {}

3-axis data (accel/gyro/mag/gravity/etc.)

wheelEncoder

WheelEncoderEvent SensorEvent::wheelEncoder {}

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

• inc/bno08x.hpp