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17 #ifndef GAZEBO_SENSORS_IMUSENSOR_HH_
18 #define GAZEBO_SENSORS_IMUSENSOR_HH_
22 #include <ignition/math/Quaternion.hh>
23 #include <ignition/math/Vector3.hh>
33 class ImuSensorPrivate;
49 protected:
void Load(
const std::string &_worldName, sdf::ElementPtr _sdf);
52 protected:
virtual void Load(
const std::string &_worldName);
55 public:
virtual void Init();
61 protected:
virtual void Fini();
72 const bool _noiseFree =
false)
const;
80 const bool _noiseFree =
false)
const;
109 const ignition::math::Quaterniond &_orientation);
113 private:
void OnLinkData(ConstLinkDataPtr &_msg);
117 private: std::unique_ptr<ImuSensorPrivate> dataPtr;
ignition::math::Quaterniond Orientation() const
get orientation of the IMU relative to a reference pose Initially, the reference pose is the boot up ...
Forward declarations for the common classes.
Definition: Animation.hh:27
void SetWorldToReferenceOrientation(const ignition::math::Quaterniond &_orientation)
Sets the rotation transform from world frame to IMU's reference frame.
virtual bool UpdateImpl(const bool _force)
This gets overwritten by derived sensor types.
sensors
Definition: SensorManager.hh:35
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.
ignition::math::Vector3d LinearAcceleration(const bool _noiseFree=false) const
Returns the imu linear acceleration in the IMU sensor local frame.
msgs::IMU ImuMessage() const
Returns the imu message.
virtual void Init()
Initialize the IMU.
void SetReferencePose()
Sets the current IMU pose as the reference NED pose, i.e.
virtual void Fini()
Finalize the sensor.
virtual ~ImuSensor()
Destructor.
Base class for sensors.
Definition: Sensor.hh:53
virtual bool IsActive() const
Returns true if sensor generation is active.
ignition::math::Vector3d AngularVelocity(const bool _noiseFree=false) const
Returns the angular velocity in the IMU sensor local frame.
An IMU sensor.
Definition: ImuSensor.hh:41