An IMU sensor. More...

#include <sensors/sensors.hh>

Inherits Sensor.

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

virtual	~ImuSensor ()
	Destructor. More...

ignition::math::Vector3d	AngularVelocity (const bool _noiseFree=false) const
	Returns the angular velocity in the IMU sensor local frame. 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) GAZEBO_DEPRECATED(8.0)
	Disconnect from a the updated signal. More...

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

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

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

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

ignition::math::Vector3d	LinearAcceleration (const bool _noiseFree=false) const
	Returns the imu linear acceleration in the IMU sensor local frame. 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...

ignition::math::Quaterniond	Orientation () const
	get orientation of the IMU relative to a reference pose Initially, the reference pose is the boot up pose of the IMU, but user can call either SetReferencePose to define current pose as the reference frame, or call SetWorldToReferencePose to define transform from world frame to reference frame. 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	SetReferencePose ()
	Sets the current IMU pose as the reference NED pose, i.e. More...

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

void	SetWorldToReferenceOrientation (const ignition::math::Quaterniond &_orientation)
	Sets the rotation transform from world frame to IMU's reference frame. More...

void	SetWorldToReferencePose (const ignition::math::Pose3d &_pose=ignition::math::Pose3d()) GAZEBO_DEPRECATED(8.0)
	Sets the transform from world frame to IMU's reference frame. 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...

bool	NeedsUpdate ()
	Return true if the sensor needs to be updated. More...

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

Protected Attributes
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...

ignition::transport::Node	nodeIgn
	Ignition transport node. 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

ImuSensor ( )

Constructor.

virtual ~ImuSensor ( )

virtual

Destructor.

Member Function Documentation

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

Returns the angular velocity in the IMU sensor local frame.

Parameters

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

Returns: Angular velocity.

SensorCategory Category ( ) const

inherited

Get the category of the sensor.

Returns: The category of the sensor.

See Also: SensorCategory

event::ConnectionPtr ConnectUpdated ( std::function< void()> _subscriber )

inherited

Connect a signal that is triggered when the sensor is updated.

Parameters

[in] _subscriber Callback that receives the signal.

Returns: A pointer to the connection. This must be kept in scope.

See Also: Sensor::DisconnectUpdated

void DisconnectUpdated ( event::ConnectionPtr & _c )

inherited

Disconnect from a the updated signal.

Parameters

[in] _c The connection to disconnect

See Also: Sensor::ConnectUpdated

Deprecated:: Use event::~Connection to disconnect

void FillMsg ( msgs::Sensor & _msg )

inherited

fills a msgs::Sensor message.

Parameters

[out] _msg Message to fill.

virtual void Fini ( )

protectedvirtual

Finalize the sensor.

Reimplemented from Sensor.

uint32_t Id ( ) const

inherited

Get the sensor's ID.

Returns: The sensor's ID.

msgs::IMU ImuMessage ( ) const

Returns the imu message.

Returns: Imu message.

virtual void Init ( )

virtual

Initialize the IMU.

Reimplemented from Sensor.

virtual bool IsActive ( ) const

virtual

Returns true if sensor generation is active.

Returns: True if active, false if not.

Reimplemented from Sensor.

common::Time LastMeasurementTime ( ) const

inherited

Return last measurement time.

Returns: Time of last measurement.

Deprecated:: See LastMeasurementTime() function.

common::Time LastUpdateTime ( ) const

inherited

Return last update time.

Returns: Time of last update.

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

Returns the imu linear acceleration in the IMU sensor local frame.

Parameters

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

Returns: Linear acceleration.

void 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 Sensor.

virtual void Load ( const std::string & _worldName )

protectedvirtual

Load the sensor with default parameters.

Parameters

[in] _worldName Name of world to load from.

Reimplemented from Sensor.

std::string Name ( ) const

inherited

Get name.

Returns: Name of sensor.

bool NeedsUpdate ( )

protectedinherited

Return true if the sensor needs to be updated.

Returns: True when sensor should be updated.

NoisePtr Noise ( const SensorNoiseType _type ) const

inherited

Get the sensor's noise model for a specified noise type.

Parameters

[in] _type Index of the noise type. Refer to SensorNoiseType enumeration for possible indices

Returns: The sensor's noise model for the given noise type

ignition::math::Quaterniond Orientation ( ) const

get orientation of the IMU relative to a reference pose Initially, the reference pose is the boot up pose of the IMU, but user can call either SetReferencePose to define current pose as the reference frame, or call SetWorldToReferencePose to define transform from world frame to reference frame.

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

uint32_t ParentId ( ) const

inherited

Get the sensor's parent's ID.

Returns: The sensor's parent's ID.

std::string ParentName ( ) const

inherited

Returns the name of the sensor parent.

The parent name is set by Sensor::SetParent.

Returns: Name of Parent.

virtual ignition::math::Pose3d Pose ( ) const

virtualinherited

Get the current pose.

Returns: Current pose of the sensor.

See Also: SetPose()

void ResetLastUpdateTime ( )

inherited

Reset the lastUpdateTime to zero.

std::string ScopedName ( ) const

inherited

Get fully scoped name of the sensor.

Returns: world_name::model_name::link_name::sensor_name.

virtual void SetActive ( const bool _value )

virtualinherited

Set whether the sensor is active or not.

Parameters

[in] _value True if active, false if not.

void SetParent	(	const std::string &	_name,
		const uint32_t	_id
	)

inherited

Set the sensor's parent.

Parameters

[in]	_name	The sensor's parent's name.
[in]	_id	The sensor's parent's ID.

virtual void SetPose ( const ignition::math::Pose3d & _pose )

virtualinherited

Set the current pose.

Parameters

[in] _pose New pose of the sensor.

See Also: Pose()

void SetReferencePose ( )

Sets the current IMU pose as the reference NED pose, i.e.

X axis of the IMU is aligned with North, Y axis of the IMU is aligned with East, Z axis of the IMU is aligned with Downward (gravity) direction.

void SetUpdateRate ( const double _hz )

inherited

Set the update rate of the sensor.

Parameters

[in] _hz update rate of sensor.

void SetWorldToReferenceOrientation ( const ignition::math::Quaterniond & _orientation )

Sets the rotation transform from world frame to IMU's reference frame.

For example, if this IMU works with respect to NED frame, then call this function with the transform that transforms world frame to NED frame. Subsequently, ImuSensor::Orientation will return identity transform if the IMU is aligned with the NED frame. This call replaces SetWorldToReferencePose.

Parameters

_orientation rotation from world frame to imu reference frame.

void SetWorldToReferencePose ( const ignition::math::Pose3d & _pose = ignition::math::Pose3d() )

Sets the transform from world frame to IMU's reference frame.

For example, if this IMU works with respect to NED frame, then call this function with the transform that transforms world frame to NED frame. Subsequently, ImuSensor::Orientation will return identity transform if the IMU is aligned with the NED frame. This call replaces SetReferencePose.

Parameters

_pose rotation from world frame to imu reference frame, tranlation part of _pose param is ignored.

Deprecated:: See SetWorldToReferenceOrientation(Quaterniond)

virtual std::string Topic ( ) const

virtualinherited

Returns the topic name as set in SDF.

Returns: Topic name.

Reimplemented in GpuRaySensor, RaySensor, CameraSensor, ForceTorqueSensor, LogicalCameraSensor, MultiCameraSensor, SonarSensor, and WirelessTransceiver.

std::string Type ( ) const

inherited

Get sensor type.

Returns: Type of sensor.

void Update ( const bool _force )

inherited

Update the sensor.

Parameters

[in] _force True to force update, false otherwise.

virtual bool 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 Sensor.

double UpdateRate ( ) const

inherited

Get the update rate of the sensor.

Returns: _hz update rate of sensor. Returns 0 if unthrottled.

bool Visualize ( ) const

inherited

Return true if user requests the sensor to be visualized via tag: <visualize>true</visualize> in SDF.

Returns: True if visualized, false if not.

std::string WorldName ( ) const

inherited

Returns the name of the world the sensor is in.

Returns: Name of the world.

Member Data Documentation

bool active

protectedinherited

True if sensor generation is active.

std::vector<event::ConnectionPtr> connections

protectedinherited

All event connections.

common::Time lastMeasurementTime

protectedinherited

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

common::Time lastUpdateTime

protectedinherited

Time of the last update.

transport::NodePtr node

protectedinherited

Node for communication.

ignition::transport::Node nodeIgn

protectedinherited

Ignition transport node.

std::map<SensorNoiseType, NoisePtr> noises

protectedinherited

Noise added to sensor data.

uint32_t parentId

protectedinherited

The sensor's parent ID.

std::string parentName

protectedinherited

Name of the parent.

std::vector<SensorPluginPtr> plugins

protectedinherited

All the plugins for the sensor.

ignition::math::Pose3d pose

protectedinherited

Pose of the sensor.

gazebo::rendering::ScenePtr scene

protectedinherited

Pointer to the Scene.

sdf::ElementPtr sdf

protectedinherited

Pointer the the SDF element for the sensor.

common::Time updatePeriod

protectedinherited

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

gazebo::physics::WorldPtr world

protectedinherited

Pointer to the world.

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

ImuSensor.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation