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gazebo::sensors::ImuSensor Class Reference

An IMU sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ImuSensor:
Inheritance graph

Public Member Functions

 ImuSensor (Body *_body)
virtual ~ImuSensor ()
Pose GetVelocity ()
 Returns velocity as a math::Pose FIXME storing x,y,z components in a quaternion seems like a bad idea.
- Public Member Functions inherited from gazebo::sensors::Sensor
 Sensor ()
virtual ~Sensor ()
void FillMsg (msgs::Sensor &_msg)
 fills a msgs::Sensor message.
virtual void Fini ()
 Finalize the sensor.
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.
virtual void Init ()
 Initialize the sensor.
bool IsActive ()
 Returns true if sensor generation is active.
virtual 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 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 FiniChild ()
 Finalize the ray.
virtual void InitChild ()
 Initialize the ray.
virtual void LoadChild (XMLConfigNode *_node)
 Load the ImuSensor from XMLConfigNode.
virtual void SaveChild (std::string &_prefix, std::ostream &_stream)
 Save the sensor info in XML format.
virtual void UpdateChild ()
 Update sensed values.
- Protected Member Functions inherited from gazebo::sensors::Sensor
virtual void UpdateImpl (bool)
 This gets overwritten by derived sensor types.

Additional Inherited Members

- Protected Attributes inherited from gazebo::sensors::Sensor
bool active
 True if active.
std::vector< event::ConnectionPtrconnections
common::Time lastUpdateTime
transport::NodePtr node
std::string parentName
std::vector< SensorPluginPtrplugins
math::Pose pose
transport::SubscriberPtr poseSub
sdf::ElementPtr sdf
common::Time updatePeriod
gazebo::physics::WorldPtr world

Detailed Description

An IMU sensor.

Constructor & Destructor Documentation

gazebo::sensors::ImuSensor::ImuSensor ( Body *  _body)


_bodyThe IMU sensor must be attached to a body.
virtual gazebo::sensors::ImuSensor::~ImuSensor ( )


Member Function Documentation

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

Finalize the ray.

Pose gazebo::sensors::ImuSensor::GetVelocity ( )

Returns velocity as a math::Pose FIXME storing x,y,z components in a quaternion seems like a bad idea.

storing x,y,z components in a quaternion seems like a bad idea
velocity data stored in Pose Nate check
virtual void gazebo::sensors::ImuSensor::InitChild ( )

Initialize the ray.

virtual void gazebo::sensors::ImuSensor::LoadChild ( XMLConfigNode *  _node)

Load the ImuSensor from XMLConfigNode.

_nodeThe XMLConfig node
virtual void gazebo::sensors::ImuSensor::SaveChild ( std::string &  _prefix,
std::ostream &  _stream 

Save the sensor info in XML format.

_streamNate fill in
virtual void gazebo::sensors::ImuSensor::UpdateChild ( )

Update sensed values.

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