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gazebo
sensors
ImuSensor.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _IMUSENSOR_HH_
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#define _IMUSENSOR_HH_
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#include <vector>
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#include <string>
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#include "
gazebo/physics/PhysicsTypes.hh
"
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#include "
gazebo/sensors/Sensor.hh
"
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namespace
gazebo
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{
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namespace
sensors
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{
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class
ImuSensor
:
public
Sensor
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{
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public
:
ImuSensor
();
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public
:
virtual
~ImuSensor
();
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// Documentation inherited.
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protected
:
void
Load
(
const
std::string &_worldName,
sdf::ElementPtr
_sdf);
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// Documentation inherited.
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protected
:
virtual
void
Load
(
const
std::string &_worldName);
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protected
:
virtual
void
Init
();
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// Documentation inherited
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protected
:
virtual
void
UpdateImpl
(
bool
_force);
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// Documentation inherited
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protected
:
virtual
void
Fini
();
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public
:
math::Vector3
GetAngularVelocity
()
const
;
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public
:
math::Vector3
GetLinearAcceleration
()
const
;
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private
:
transport::PublisherPtr
pub;
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private
:
physics::LinkPtr
parentEntity;
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private
: msgs::IMU imuMsg;
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};
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}
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}
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#endif