17 #ifndef IGNITION_SENSORS_IMUSENSOR_HH_ 18 #define IGNITION_SENSORS_IMUSENSOR_HH_ 24 #include <ignition/common/SuppressWarning.hh> 25 #include <ignition/common/Time.hh> 26 #include <ignition/math/Pose3.hh> 28 #include <ignition/sensors/config.hh> 29 #include <ignition/sensors/imu/Export.hh> 38 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
41 class ImuSensorPrivate;
58 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
63 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
67 public:
virtual bool Init()
override;
72 public:
virtual bool IGN_DEPRECATED(4) Update(
73 const ignition::common::Time &_now)
override;
78 public:
virtual bool Update(
79 const std::chrono::steady_clock::duration &_now)
override;
84 public:
void SetAngularVelocity(
const math::Vector3d &_angularVel);
89 public: math::Vector3d AngularVelocity()
const;
94 public:
void SetLinearAcceleration(
const math::Vector3d &_linearAcc);
99 public: math::Vector3d LinearAcceleration()
const;
103 public:
void SetWorldPose(
const math::Pose3d _pose);
107 public: math::Pose3d WorldPose()
const;
113 public:
void SetOrientationReference(
114 const math::Quaterniond &_orient);
118 public: math::Quaterniond OrientationReference()
const;
125 public: math::Quaterniond Orientation()
const;
129 public:
void SetGravity(
const math::Vector3d &_gravity);
136 public:
void SetOrientationEnabled(
bool _enabled);
140 public:
bool OrientationEnabled()
const;
144 public: math::Vector3d Gravity()
const;
146 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
150 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
a base sensor class
Definition: Sensor.hh:60
Definition: AirPressureSensor.hh:32
Imu Sensor Class.
Definition: ImuSensor.hh:47