ImuSensor.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_SENSORS_IMUSENSOR_HH_
#define IGNITION_SENSORS_IMUSENSOR_HH_

#include <memory>

#include <sdf/sdf.hh>

#include <ignition/common/SuppressWarning.hh>
#include <ignition/math/Pose3.hh>

#include <ignition/sensors/config.hh>
#include <ignition/sensors/imu/Export.hh>

#include "ignition/sensors/Sensor.hh"

namespace ignition
{
  namespace sensors
  {
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {

    enum class IGNITION_SENSORS_VISIBLE WorldFrameEnumType
    {
      NONE = 0,

      ENU = 1,

      NED = 2,

      NWU = 3,

      CUSTOM = 4
    };

    class ImuSensorPrivate;

    class IGNITION_SENSORS_IMU_VISIBLE ImuSensor : public Sensor
    {
      public: ImuSensor();

      public: virtual ~ImuSensor();

      public: virtual bool Load(const sdf::Sensor &_sdf) override;

      public: virtual bool Load(sdf::ElementPtr _sdf) override;

      public: virtual bool Init() override;

      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;

      public: void SetAngularVelocity(const math::Vector3d &_angularVel);

      public: math::Vector3d AngularVelocity() const;

      public: void SetLinearAcceleration(const math::Vector3d &_linearAcc);

      public: math::Vector3d LinearAcceleration() const;

      public: void SetWorldPose(const math::Pose3d _pose);

      public: math::Pose3d WorldPose() const;

      public: void SetOrientationReference(
          const math::Quaterniond &_orient);

      public: math::Quaterniond OrientationReference() const;

      public: math::Quaterniond Orientation() const;

      public: void SetGravity(const math::Vector3d &_gravity);

      public: void SetOrientationEnabled(bool _enabled);

      public: bool OrientationEnabled() const;

      public: math::Vector3d Gravity() const;

      public: void SetWorldFrameOrientation(
        const math::Quaterniond &_rot, WorldFrameEnumType _relativeTo);

      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<ImuSensorPrivate> dataPtr;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}

#endif