An IMU sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ImuSensor:

Public Member Functions
	ImuSensor ()
	Constructor.

virtual	~ImuSensor ()
	Destructor.

math::Vector3	GetAngularVelocity () const
	Returns the angular velocity.

math::Vector3	GetLinearAcceleration () const
	Returns the linear acceleration.

Public Member Functions inherited from gazebo::sensors::Sensor
	Sensor ()
	Constructor.

virtual	~Sensor ()
	Destructor.

void	FillMsg (msgs::Sensor &_msg)
	fills a msgs::Sensor message.

common::Time	GetLastMeasurementTime ()
	Return last measurement time.

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.

bool	IsActive ()
	Returns true if sensor generation is active.

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	Fini ()
	Finalize the sensor.

virtual void	Init ()
	Initialize the IMU.

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	UpdateImpl (bool _force)
	This gets overwritten by derived sensor types.

Additional Inherited Members
Protected Attributes inherited from gazebo::sensors::Sensor
bool	active
	True if sensor generation is active.

std::vector< event::ConnectionPtr >	connections
	All event connections.

common::Time	lastMeasurementTime
	Stores last time that a sensor measurement was generated; this value must be updated within each sensor's UpdateImpl.

common::Time	lastUpdateTime
	Time of the last update.

transport::NodePtr	node
	Node for communication.

std::string	parentName
	Name of the parent.

std::vector< SensorPluginPtr >	plugins
	All the plugins for the sensor.

math::Pose	pose
	Pose of the sensor.

transport::SubscriberPtr	poseSub
	Subscribe to pose updates.

sdf::ElementPtr	sdf
	Pointer the the SDF element for the sensor.

common::Time	updatePeriod
	Desired time between updates, set indirectly by Sensor::SetUpdateRate.

gazebo::physics::WorldPtr	world
	Pointer to the world.

Detailed Description

An IMU sensor.

Constructor & Destructor Documentation

gazebo::sensors::ImuSensor::ImuSensor ( )

Constructor.

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

virtual

Destructor.

Member Function Documentation

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

math::Vector3 gazebo::sensors::ImuSensor::GetAngularVelocity ( ) const

Returns the angular velocity.

Returns: Angular velocity.

math::Vector3 gazebo::sensors::ImuSensor::GetLinearAcceleration ( ) const

Returns the linear acceleration.

Returns: Linear acceleration.

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

protectedvirtual

Initialize the IMU.

Reimplemented from gazebo::sensors::Sensor.

void gazebo::sensors::ImuSensor::Load	(	const std::string &	_worldName,
		sdf::ElementPtr	_sdf
	)

protectedvirtual

Load the sensor with SDF parameters.

Parameters

[in]	_sdf	SDF Sensor parameters.
[in]	_worldName	Name of world to load from.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ImuSensor::Load ( const std::string & _worldName )

protectedvirtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from gazebo::sensors::Sensor.

virtual void gazebo::sensors::ImuSensor::UpdateImpl ( bool )

protectedvirtual

This gets overwritten by derived sensor types.

   This function is called during Sensor::Update.
   And in turn, Sensor::Update is called by
   SensorManager::Update

Parameters

[in] _force True if update is forced, false if not

Reimplemented from gazebo::sensors::Sensor.

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

ImuSensor.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation