An IMU sensor. More...

#include <sensors/sensors.hh>

Inheritance diagram for gazebo::sensors::ImuSensor:

Public Member Functions
	ImuSensor ()
	Constructor.

virtual	~ImuSensor ()
	Destructor.

math::Vector3	GetAngularVelocity () const
	Returns the angular velocity.

math::Vector3	GetLinearAcceleration () const
	Returns the imu linear acceleration.

math::Quaternion	GetOrientation () const
	get orientation of the IMU relative to the reference pose

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

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

virtual	~Sensor ()
	Destructor.

template<typename T >
event::ConnectionPtr	ConnectUpdated (T _subscriber)
	Connect a signal that is triggered when the sensor is updated.

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

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

SensorCategory	GetCategory () const
	Get the category of the sensor.

common::Time	GetLastMeasurementTime ()
	Return last measurement time.

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.

double	GetUpdateRate ()
	Get the update rate of the sensor.

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

void	ResetLastUpdateTime ()
	Reset the lastUpdateTime to zero.

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	Fini ()
	Finalize the sensor.

virtual void	Init ()
	Initialize the IMU.

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

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

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

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

common::Time	lastUpdateTime
	Time of the last update.

transport::NodePtr	node
	Node for communication.

std::string	parentName
	Name of the parent.

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

math::Pose	pose
	Pose of the sensor.

transport::SubscriberPtr	poseSub
	Subscribe to pose updates.

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

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

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

Detailed Description

An IMU sensor.

Constructor & Destructor Documentation

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

Constructor.

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

virtual

Destructor.

Member Function Documentation

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

protectedvirtual

Finalize the sensor.

Reimplemented from gazebo::sensors::Sensor.

math::Vector3 gazebo::sensors::ImuSensor::GetAngularVelocity ( ) const

Returns the angular velocity.

Returns: Angular velocity.

math::Vector3 gazebo::sensors::ImuSensor::GetLinearAcceleration ( ) const

Returns the imu linear acceleration.

Returns: Linear acceleration.

math::Quaternion gazebo::sensors::ImuSensor::GetOrientation ( ) 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.

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

protectedvirtual

Initialize the IMU.

Reimplemented from gazebo::sensors::Sensor.

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.

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

Sets the current pose as the IMU reference pose.

virtual void gazebo::sensors::ImuSensor::UpdateImpl ( 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

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