gz/sensors/ImuSensor.hh

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/*
 * 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 GZ_SENSORS_IMUSENSOR_HH_
#define GZ_SENSORS_IMUSENSOR_HH_
 
#include <memory>
 
#include <sdf/sdf.hh>
 
#include <gz/utils/SuppressWarning.hh>
#include <gz/math/Pose3.hh>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/imu/Export.hh>
 
#include "gz/sensors/Sensor.hh"
 
namespace gz
{
  namespace sensors
  {
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
 
    enum class GZ_SENSORS_VISIBLE WorldFrameEnumType
    {
      NONE = 0,
 
      ENU = 1,
 
      NED = 2,
 
      NWU = 3,
 
      CUSTOM = 4
    };
 
    class ImuSensorPrivate;
 
    class GZ_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;
 
      using Sensor::Update;
 
      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);
 
      public: virtual bool HasConnections() const override;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<ImuSensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif