17 #ifndef IGNITION_SENSORS_IMUSENSOR_HH_ 18 #define IGNITION_SENSORS_IMUSENSOR_HH_ 24 #include <ignition/common/SuppressWarning.hh> 25 #include <ignition/math/Pose3.hh> 27 #include <ignition/sensors/config.hh> 28 #include <ignition/sensors/imu/Export.hh> 37 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
40 class ImuSensorPrivate;
57 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
62 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
66 public:
virtual bool Init()
override;
71 public:
virtual bool Update(
72 const std::chrono::steady_clock::duration &_now)
override;
77 public:
void SetAngularVelocity(
const math::Vector3d &_angularVel);
82 public: math::Vector3d AngularVelocity()
const;
87 public:
void SetLinearAcceleration(
const math::Vector3d &_linearAcc);
92 public: math::Vector3d LinearAcceleration()
const;
96 public:
void SetWorldPose(
const math::Pose3d _pose);
100 public: math::Pose3d WorldPose()
const;
106 public:
void SetOrientationReference(
107 const math::Quaterniond &_orient);
111 public: math::Quaterniond OrientationReference()
const;
118 public: math::Quaterniond Orientation()
const;
122 public:
void SetGravity(
const math::Vector3d &_gravity);
129 public:
void SetOrientationEnabled(
bool _enabled);
133 public:
bool OrientationEnabled()
const;
137 public: math::Vector3d Gravity()
const;
139 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
143 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
a base sensor class
Definition: Sensor.hh:59
Definition: AirPressureSensor.hh:31
Imu Sensor Class.
Definition: ImuSensor.hh:46