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17 #ifndef GZ_SENSORS_IMUSENSOR_HH_
18 #define GZ_SENSORS_IMUSENSOR_HH_
24 #include <gz/common/SuppressWarning.hh>
25 #include <gz/math/Pose3.hh>
27 #include <gz/sensors/config.hh>
28 #include <gz/sensors/imu/Export.hh>
37 inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
61 class ImuSensorPrivate;
78 public:
virtual bool Load(
const sdf::Sensor &_sdf)
override;
83 public:
virtual bool Load(sdf::ElementPtr _sdf)
override;
87 public:
virtual bool Init()
override;
92 public:
virtual bool Update(
93 const std::chrono::steady_clock::duration &_now)
override;
98 public:
void SetAngularVelocity(
const math::Vector3d &_angularVel);
103 public: math::Vector3d AngularVelocity()
const;
108 public:
void SetLinearAcceleration(
const math::Vector3d &_linearAcc);
113 public: math::Vector3d LinearAcceleration()
const;
117 public:
void SetWorldPose(
const math::Pose3d _pose);
121 public: math::Pose3d WorldPose()
const;
127 public:
void SetOrientationReference(
128 const math::Quaterniond &_orient);
132 public: math::Quaterniond OrientationReference()
const;
139 public: math::Quaterniond Orientation()
const;
143 public:
void SetGravity(
const math::Vector3d &_gravity);
150 public:
void SetOrientationEnabled(
bool _enabled);
154 public:
bool OrientationEnabled()
const;
158 public: math::Vector3d Gravity()
const;
164 public:
void SetWorldFrameOrientation(
170 public:
bool HasConnections()
const;
172 IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
176 IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
Definition: gz/sensors/AirPressureSensor.hh:31
WorldFrameEnumType
Inline bracket to help doxygen filtering.
Definition: gz/sensors/ImuSensor.hh:40
@ ENU
ENU (East-North-Up): x - East, y - North, z - Up.
@ NWU
NWU (North-West-Up): x - North, y - West, z - Up.
Imu Sensor Class.
Definition: gz/sensors/ImuSensor.hh:67
@ NONE
NONE : To be used only when <localization> reference orientation tag is empty.
a base sensor class
Definition: gz/sensors/Sensor.hh:59
@ CUSTOM
CUSTOM : The frame is described using custom_rpy tag.
@ NED
NED (North-East-Down): x - North, y - East, z - Down.