ImuSensor.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_SENSORS_IMUSENSOR_HH_
18 #define GAZEBO_SENSORS_IMUSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Quaternion.hh>
23 #include <ignition/math/Vector3.hh>
24 
25 #include "gazebo/sensors/Sensor.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace sensors
31  {
32  // Forward declare private data class.
33  class ImuSensorPrivate;
34 
37 
41  {
43  public: ImuSensor();
44 
46  public: virtual ~ImuSensor();
47 
48  // Documentation inherited.
49  protected: void Load(const std::string &_worldName, sdf::ElementPtr _sdf);
50 
51  // Documentation inherited.
52  protected: virtual void Load(const std::string &_worldName);
53 
55  public: virtual void Init();
56 
57  // Documentation inherited
58  protected: virtual bool UpdateImpl(const bool _force);
59 
60  // Documentation inherited
61  protected: virtual void Fini();
62 
65  public: msgs::IMU ImuMessage() const;
66 
71  public: ignition::math::Vector3d AngularVelocity(
72  const bool _noiseFree = false) const;
73 
79  public: ignition::math::Vector3d LinearAcceleration(
80  const bool _noiseFree = false) const;
81 
89  public: ignition::math::Quaterniond Orientation() const;
90 
95  public: void SetReferencePose();
96 
97  // Documentation inherited.
98  public: virtual bool IsActive() const;
99 
109  public: void SetWorldToReferencePose(
110  const ignition::math::Pose3d &_pose = ignition::math::Pose3d())
111  GAZEBO_DEPRECATED(8.0);
112 
121  public: void SetWorldToReferenceOrientation(
122  const ignition::math::Quaterniond &_orientation);
123 
126  private: void OnLinkData(ConstLinkDataPtr &_msg);
127 
130  private: std::unique_ptr<ImuSensorPrivate> dataPtr;
131  };
133  }
134 }
135 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An IMU sensor.
Definition: ImuSensor.hh:40
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58