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VMX-pi C++ HAL Library for Raspberry Pi
VMX-pi Robotics Controller & Vision/Motion Processor
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The IVMXTimestampedAHRSDataSubscriber interface provides a method for consumers of navX-Model device data to be rapidly notified whenever new data has arrived. More...
#include <IVMXTimestampedAHRSDataSubscriber.h>
Public Member Functions | |
| virtual void | timestampedDataReceived (long system_timestamp, long sensor_timestamp, const AHRSProtocol::AHRSUpdateBase &sensor_data, void *context)=0 |
The IVMXTimestampedAHRSDataSubscriber interface provides a method for consumers of navX-Model device data to be rapidly notified whenever new data has arrived.
timestampedDataReceived(): reception of sensor-timestamped data
A "sensor" timestamp is provided, generated by the navX-Model device, which is at millisecond resolution. A "system timestamp", also at millisecond resolution, is also provided, which represents as accurately as possible the time at which the data was acquired from the navX-Model device. Note that the "system timestamp" typically has more jitter since it is generated by the host of the navX-Model device.
Thus, in general sensor timestamps are preferred, as they are generated by the navX-Model device motion processor and has a greater accuracy (+/- 1ms) than the system timestamp which is vulnerable to latencies introduced by the host operating system.
The system timestamp is provided to allow performance monitoring of the navX-Model device host's data acquisition process.
1.8.13