gazebo::sensors::ImuSensor Class Reference

An IMU sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ImuSensor:

Public Member Functions
	ImuSensor (Body *_body)
	Constructor.
virtual	~ImuSensor ()
	Destructor.
Pose	GetVelocity ()
	Returns velocity as a math::Pose FIXME storing x,y,z components in a quaternion seems like a bad idea.
Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor ()
	Constructor.
virtual	~Sensor ()
	Destructor.
void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message.
virtual void	Fini ()
	Finalize the sensor.
common::Time	GetLastUpdateTime ()
	return last update time
std::string	GetName () const
	Get name.
std::string	GetParentName () const
	Returns the name of the sensor parent.
virtual math::Pose	GetPose () const
	Get the current pose.
std::string	GetScopedName () const
	Get fully scoped name of the sensor.
virtual std::string	GetTopic () const
	Returns the topic name as set in SDF.
std::string	GetType () const
	Get sensor type.
bool	GetVisualize () const
	return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF
std::string	GetWorldName () const
	Returns the name of the world the sensor is in.
virtual void	Init ()
	Initialize the sensor.
bool	IsActive ()
	Returns true if sensor generation is active.
virtual void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters.
virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters.
virtual void	SetActive (bool _value)
	Set whether the sensor is active or not.
virtual void	SetParent (const std::string &_name)
	Set the parent of the sensor.
void	SetUpdateRate (double _hz)
	Set the update rate of the sensor.
void	Update (bool _force)
	Update the sensor.

Protected Member Functions
virtual void	FiniChild ()
	Finalize the ray.
virtual void	InitChild ()
	Initialize the ray.
virtual void	LoadChild (XMLConfigNode *_node)
	Load the ImuSensor from XMLConfigNode.
virtual void	SaveChild (std::string &_prefix, std::ostream &_stream)
	Save the sensor info in XML format.
virtual void	UpdateChild ()
	Update sensed values.
Protected Member Functions inherited from gazebo::sensors::Sensor
virtual void	UpdateImpl (bool)
	This gets overwritten by derived sensor types.

Additional Inherited Members
Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if active.
std::vector< event::ConnectionPtr >	connections
common::Time	lastUpdateTime
transport::NodePtr	node
std::string	parentName
std::vector< SensorPluginPtr >	plugins
math::Pose	pose
transport::SubscriberPtr	poseSub
sdf::ElementPtr	sdf
common::Time	updatePeriod
gazebo::physics::WorldPtr	world

Detailed Description

An IMU sensor.

Constructor & Destructor Documentation

gazebo::sensors::ImuSensor::ImuSensor

(

Body *

_body

)

Constructor.

Parameters

_body

The IMU sensor must be attached to a body.

virtual gazebo::sensors::ImuSensor::~ImuSensor ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::sensors::ImuSensor::FiniChild ( )

protectedvirtual

Finalize the ray.

Pose gazebo::sensors::ImuSensor::GetVelocity

(

)

Returns velocity as a math::Pose FIXME storing x,y,z components in a quaternion seems like a bad idea.

Todo:

storing x,y,z components in a quaternion seems like a bad idea

Returns

velocity data stored in Pose Nate check

virtual void gazebo::sensors::ImuSensor::InitChild ( )

protectedvirtual

Initialize the ray.

virtual void gazebo::sensors::ImuSensor::LoadChild ( XMLConfigNode *  _node )

protectedvirtual

Load the ImuSensor from XMLConfigNode.

Parameters

_node

The XMLConfig node

virtual void gazebo::sensors::ImuSensor::SaveChild ( std::string &  _prefix, std::ostream &  _stream  )

protectedvirtual

Save the sensor info in XML format.

Parameters

_prefix
_stream	Nate fill in

virtual void gazebo::sensors::ImuSensor::UpdateChild ( )

protectedvirtual

Update sensed values.

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

• ImuSensor.hh