An IMU sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ImuSensor:

Public Member Functions
	ImuSensor ()
	Constructor. More...

virtual	~ImuSensor ()
	Destructor. More...

ignition::math::Vector3d	AngularVelocity (const bool _noiseFree=false) const
	Returns the angular velocity. More...

msgs::IMU	GetImuMessage () const GAZEBO_DEPRECATED(7.0)
	Returns the imu message. More...

msgs::IMU	ImuMessage () const
	Returns the imu message. More...

virtual void	Init ()
	Initialize the IMU. More...

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

ignition::math::Vector3d	LinearAcceleration (const bool _noiseFree=false) const
	Returns the imu linear acceleration. More...

ignition::math::Quaterniond	Orientation () const
	get orientation of the IMU relative to the reference pose More...

void	SetReferencePose ()
	Sets the current pose as the IMU reference pose. More...

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

virtual	~Sensor ()
	Destructor. More...

SensorCategory	Category () const
	Get the category of the sensor. More...

event::ConnectionPtr	ConnectUpdated (std::function< void()> _subscriber)
	Connect a signal that is triggered when the sensor is updated. More...

void	DisconnectUpdated (event::ConnectionPtr &_c)
	Disconnect from a the updated signal. More...

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

SensorCategory	GetCategory () const GAZEBO_DEPRECATED(7.0)
	Get the category of the sensor. More...

uint32_t	GetId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's ID. More...

common::Time	GetLastMeasurementTime () GAZEBO_DEPRECATED(7.0)
	Return last measurement time. More...

common::Time	GetLastUpdateTime () GAZEBO_DEPRECATED(7.0)
	Return last update time. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get name. More...

NoisePtr	GetNoise (const SensorNoiseType _type) const GAZEBO_DEPRECATED(7.0)
	Get the sensor's noise model for a specified noise type. More...

uint32_t	GetParentId () const GAZEBO_DEPRECATED(7.0)
	Get the sensor's parent's ID. More...

std::string	GetParentName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the sensor parent. More...

std::string	GetScopedName () const GAZEBO_DEPRECATED(7.0)
	Get fully scoped name of the sensor. More...

virtual std::string	GetTopic () const GAZEBO_DEPRECATED(7.0)
	Returns the topic name as set in SDF. More...

std::string	GetType () const GAZEBO_DEPRECATED(7.0)
	Get sensor type. More...

double	GetUpdateRate () GAZEBO_DEPRECATED(7.0)
	Get the update rate of the sensor. More...

bool	GetVisualize () const GAZEBO_DEPRECATED(7.0)
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	GetWorldName () const GAZEBO_DEPRECATED(7.0)
	Returns the name of the world the sensor is in. More...

uint32_t	Id () const
	Get the sensor's ID. More...

common::Time	LastMeasurementTime () const
	Return last measurement time. More...

common::Time	LastUpdateTime () const
	Return last update time. More...

std::string	Name () const
	Get name. More...

NoisePtr	Noise (const SensorNoiseType _type) const
	Get the sensor's noise model for a specified noise type. More...

uint32_t	ParentId () const
	Get the sensor's parent's ID. More...

std::string	ParentName () const
	Returns the name of the sensor parent. More...

virtual ignition::math::Pose3d	Pose () const
	Get the current pose. More...

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero. More...

std::string	ScopedName () const
	Get fully scoped name of the sensor. More...

virtual void	SetActive (const bool _value)
	Set whether the sensor is active or not. More...

void	SetParent (const std::string &_name, const uint32_t _id)
	Set the sensor's parent. More...

virtual void	SetPose (const ignition::math::Pose3d &_pose)
	Set the current pose. More...

void	SetUpdateRate (const double _hz)
	Set the update rate of the sensor. More...

virtual std::string	Topic () const
	Returns the topic name as set in SDF. More...

std::string	Type () const
	Get sensor type. More...

void	Update (const bool _force)
	Update the sensor. More...

double	UpdateRate () const
	Get the update rate of the sensor. More...

bool	Visualize () const
	Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF. More...

std::string	WorldName () const
	Returns the name of the world the sensor is in. More...

Protected Member Functions
virtual void	Fini ()
	Finalize the sensor. More...

void	Load (const std::string &_worldName, sdf::ElementPtr _sdf)
	Load the sensor with SDF parameters. More...

virtual void	Load (const std::string &_worldName)
	Load the sensor with default parameters. More...

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

Protected Member Functions inherited from gazebo::sensors::Sensor
bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

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

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

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

common::Time	lastUpdateTime
	Time of the last update. More...

transport::NodePtr	node
	Node for communication. More...

std::map< SensorNoiseType, NoisePtr >	noises
	Noise added to sensor data. More...

uint32_t	parentId
	The sensor's parent ID. More...

std::string	parentName
	Name of the parent. More...

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

ignition::math::Pose3d	pose
	Pose of the sensor. More...

gazebo::rendering::ScenePtr	scene
	Pointer to the Scene. More...

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

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

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

Detailed Description

An IMU sensor.

Constructor & Destructor Documentation

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

Constructor.

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

virtual

Destructor.

Member Function Documentation

ignition::math::Vector3d gazebo::sensors::ImuSensor::AngularVelocity ( const bool _noiseFree = false ) const

Returns the angular velocity.

Parameters

[in] _noiseFree True if the returned measurement should not use noise.

Returns: Angular velocity.

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

msgs::IMU gazebo::sensors::ImuSensor::GetImuMessage ( ) const

Returns the imu message.

Returns: Imu message.

Deprecated:: See ImuMessage()

msgs::IMU gazebo::sensors::ImuSensor::ImuMessage ( ) const

Returns the imu message.

Returns: Imu message.

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

virtual

Initialize the IMU.

Reimplemented from gazebo::sensors::Sensor.

virtual bool gazebo::sensors::ImuSensor::IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from gazebo::sensors::Sensor.

ignition::math::Vector3d gazebo::sensors::ImuSensor::LinearAcceleration ( const bool _noiseFree = false ) const

Returns the imu linear acceleration.

Parameters

[in] _noiseFree True if the returned measurement should not use noise.

Returns: Linear acceleration.

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.

ignition::math::Quaterniond gazebo::sensors::ImuSensor::Orientation ( ) const

get orientation of the IMU relative to the reference pose

Returns: returns the orientation quaternion of the IMU relative to the imu reference pose.

void gazebo::sensors::ImuSensor::SetReferencePose ( )

Sets the current pose as the IMU reference pose.

virtual bool gazebo::sensors::ImuSensor::UpdateImpl ( const 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

Returns: True if the sensor was updated.

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