The MT Software Development Kit

The SDK gives easy access to Xsens’ products, allowing users to configure and
easily integrate the MTx, MTi and MTi-G Motion Trackers in their own
applications. The kit contains a specially developed, easy-to-use, graphical
user interface, drivers for different operating systems and many other useful
tools, example code and documentation.

The MT Software Development Kit contains:

• MT Manager
• Development tools
     - MT API for Windows
     - C++ Classes and direct
  low level (binary) communication for any OS
     - Example code
• Magnetic Field Mapper plug-in
• Documentation

Benefits

The MT Manager is a Windows application for easy access to the full
capabilities of Xsens’ Motion Trackers. It is the tool for getting acquainted
with, configuring and analyzing the Motion Trackers. The MT Manager is also
capable of recording and play-back the MT data.

Description

Real-time graphical presentation of various outputs of the MT-Tracker. The
following functions can be carried out with the MT Manager:

• Real-time 3D visualization of orientation
• Real-time graphical presentation of:
     - Euler angles or Quaternions vs.
  time
     - Accelerometer, gyroscope and magnetic data vs. time
     -
  Position output (MTi-G only): latitude, longitude, altitude
     - GPS status
  and GPS time (MTi-G only)
• Logging of orientation data, calibrated sensor data and/or binary sensor
  data
• Exporting log files to other formats like ASCII and KMZ (Google Earth)
• Post-processing of logged binary sensor data
• Changing and viewing various device settings and properties, e.g.: 
     -
  Xsens sensor fusion algorithm scenario
     - Baud rate
     - Sample
  frequency
     - Synchronization settings
• Selecting data output formats:
     - Orientation format (euler angles,
  quaternion, rotation matrix)
     - Calibrated sensor data
  (accelerometers, gyroscopes, magnetic field)
     - Raw sensor data
  (accelerometers, gyroscopes, magnetic field, GPS,  barometer, temperature)
    
  - Position output (MTi-G only): latitude vs. longitude, altitude vs. time
    
  - Velocity output (MTi-G only): velocity vs. time
• Storing settings in the MT non-volatile memory

In addition, the MT Manager contains:

• Low level communication data window (also possibility to send messages)
• Complete documentation

The MT Manager handles up to 20 Motion Trackers and is Windows XP and Windows
Vista compatible.

MT Development Tools

COM object API and DLL API (XsensCMT.DLL)

The Xsens Communication MT (CMT) API will help save time in interfacing in a
reliable way with the Xsens Motion Trackers in a Windows environment. Direct
interfacing gives full control and maximum flexibility. The example code can be
easily extended to a user-specific program.

C++ classes and binary communication for any OS

The C++ Class and direct low level (binary) communication allows for reliable
interfacing with the Xsens Motion Trackers in any (RT)OS environment. The C++
Class and direct low level (binary) communication is open source and can be used
when hard real-time performance is required. The example code can be easily
extended to a user-specific program.

Magnetic field mapper plug-in (MFM)

Quick, accurate and easy-to-use routine, making the Xsens Motion Tracker
capable to provide reliable data in areas of homogeneous and constant magnetic
distortion. By rotating the unit, the distorted magnetic field is accurately
mapped. Magnetic field mapping is required only once upon installation.

Example source code

Example code is available for the following analysis programs and
platforms:

• Matlab/Excel (VBA) (COM Object API)
• C/C++ (DLL API)
• C/C++ (direct low level (binary) communication, library)