ImuSensor.hh

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/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _IMUSENSOR_HH_
#define _IMUSENSOR_HH_

#include <vector>
#include <string>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE ImuSensor: public Sensor
    {
      public: ImuSensor();

      public: virtual ~ImuSensor();

      // Documentation inherited.
      protected: void Load(const std::string &_worldName, sdf::ElementPtr _sdf);

      // Documentation inherited.
      protected: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      // Documentation inherited
      protected: virtual bool UpdateImpl(bool _force);

      // Documentation inherited
      protected: virtual void Fini();

      public: msgs::IMU GetImuMessage() const;

      public: math::Vector3 GetAngularVelocity() const;

      public: math::Vector3 GetLinearAcceleration() const;

      public: math::Quaternion GetOrientation() const;

      public: void SetReferencePose();

      // Documentation inherited.
      public: virtual bool IsActive();

      private: void OnLinkData(ConstLinkDataPtr &_msg);

      private: math::Pose referencePose;

      private: math::Vector3 lastLinearVel;

      private: math::Vector3 linearAcc;

      private: math::Vector3 gravity;

      private: transport::PublisherPtr pub;

      private: transport::SubscriberPtr linkDataSub;

      private: physics::LinkPtr parentEntity;

      private: msgs::IMU imuMsg;

      private: mutable boost::mutex mutex;

      private: boost::shared_ptr<msgs::LinkData const> incomingLinkData[2];

      private: unsigned int dataIndex;

      private: bool dataDirty;

      private: enum NoiseModelType
      {
        NONE,
        GAUSSIAN
      };

      private: bool noiseActive;

      private: enum NoiseModelType noiseType;

      private: double accelNoiseMean;

      private: double accelNoiseStdDev;

      private: double accelBias;

      private: double rateNoiseMean;

      private: double rateNoiseStdDev;

      private: double rateBias;
    };
  }
}
#endif