ImuSensor.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef GAZEBO_SENSORS_IMUSENSOR_HH_
18 #define GAZEBO_SENSORS_IMUSENSOR_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Quaternion.hh>
23 #include <ignition/math/Vector3.hh>
24 
25 #include "gazebo/sensors/Sensor.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace sensors
31  {
32  // Forward declare private data class.
33  class ImuSensorPrivate;
34 
37 
41  {
43  public: ImuSensor();
44 
46  public: virtual ~ImuSensor();
47 
48  // Documentation inherited.
49  protected: void Load(const std::string &_worldName, sdf::ElementPtr _sdf);
50 
51  // Documentation inherited.
52  protected: virtual void Load(const std::string &_worldName);
53 
55  public: virtual void Init();
56 
57  // Documentation inherited
58  protected: virtual bool UpdateImpl(const bool _force);
59 
60  // Documentation inherited
61  protected: virtual void Fini();
62 
66  public: msgs::IMU GetImuMessage() const GAZEBO_DEPRECATED(7.0);
67 
70  public: msgs::IMU ImuMessage() const;
71 
76  public: ignition::math::Vector3d AngularVelocity(
77  const bool _noiseFree = false) const;
78 
84  public: ignition::math::Vector3d LinearAcceleration(
85  const bool _noiseFree = false) const;
86 
94  public: ignition::math::Quaterniond Orientation() const;
95 
100  public: void SetReferencePose();
101 
102  // Documentation inherited.
103  public: virtual bool IsActive() const;
104 
112  public: void SetWorldToReferencePose(
113  const ignition::math::Pose3d &_pose = ignition::math::Pose3d());
114 
117  private: void OnLinkData(ConstLinkDataPtr &_msg);
118 
121  private: std::unique_ptr<ImuSensorPrivate> dataPtr;
122  };
124  }
125 }
126 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:48
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An IMU sensor.
Definition: ImuSensor.hh:40
Base class for sensors.
Definition: Sensor.hh:50
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59