XBot::ImuSensor Class Reference

#include <ImuSensor.h>

Inheritance diagram for XBot::ImuSensor:

Collaboration diagram for XBot::ImuSensor:

Public Types
typedef std::shared_ptr< ImuSensor >	Ptr
typedef std::shared_ptr< const ImuSensor >	ConstPtr
Public Types inherited from XBot::GenericSensor
typedef std::shared_ptr< GenericSensor >	Ptr
typedef std::shared_ptr< const GenericSensor >	ConstPtr

Public Member Functions
	ImuSensor ()
	Default constructor. More...
	ImuSensor (urdf::LinkConstSharedPtr sensor_link, int sensor_id)
	Constructor with the sensor parent link. More...
void	getOrientation (Eigen::Quaterniond &orientation) const
	Getter for the IMU orientation as a quaternion. More...
void	getOrientation (Eigen::Matrix3d &orientation) const
	Getter for the IMU orientation as a rotation matrix. More...
void	getLinearAcceleration (Eigen::Vector3d &acceleration) const
	Getter for the IMU linear acceleration. More...
void	getAngularVelocity (Eigen::Vector3d &angular_velocity) const
	Getter for the IMU angular velocity. More...
void	getImuData (Eigen::Quaterniond &orientation, Eigen::Vector3d &acceleration, Eigen::Vector3d &angular_velocity) const
	Getter for the IMU data i.e. More...
void	getImuData (Eigen::Matrix3d &orientation, Eigen::Vector3d &acceleration, Eigen::Vector3d &angular_velocity) const
	Getter for the IMU data i.e. More...
void	setImuData (Eigen::Quaterniond &orientation, Eigen::Vector3d &acceleration, Eigen::Vector3d &angular_velocity, double timestamp)
	Setter for the IMU data i.e. More...
void	setImuData (Eigen::Matrix3d &orientation, Eigen::Vector3d &acceleration, Eigen::Vector3d &angular_velocity, double timestamp)
	Setter for the IMU data i.e. More...
Public Member Functions inherited from XBot::GenericSensor
	GenericSensor ()
	Default constructor. More...
	GenericSensor (urdf::LinkConstSharedPtr sensor_link, int sensor_id)
	Constructor with the sensor parent link. More...
const std::string &	getParentLinkName () const
	Getter for the sensor parent link name. More...
const std::string &	getParentJointName () const
	Getter for the sensor parent joint name. More...
const std::string &	getSensorName () const
	Getter for the sensor name. More...
const int	getSensorId () const
	Getter for the sensor id. More...
const Eigen::Affine3d &	getSensorPose () const
	Getter for the sensor pose w.r.t. More...
double	getTimestamp () const
	Getter for the timestamp of the last sensor reading. More...
void	setTimestamp (double timestamp)
	Setter for the timestamp of the sensor reading. More...

Friends
std::ostream &	operator<< (std::ostream &os, const XBot::ImuSensor &j)

Member Typedef Documentation

ConstPtr

typedef std::shared_ptr<const ImuSensor> XBot::ImuSensor::ConstPtr

Ptr

typedef std::shared_ptr<ImuSensor> XBot::ImuSensor::Ptr

Constructor & Destructor Documentation

ImuSensor() [1/2]

XBot::ImuSensor::ImuSensor

(

)

Default constructor.

ImuSensor() [2/2]

XBot::ImuSensor::ImuSensor	(	urdf::LinkConstSharedPtr	sensor_link,
		int	sensor_id
	)

Constructor with the sensor parent link.

Parameters

sensor_link	the sensor parent link
sensor_id	the sensor id

Member Function Documentation

getAngularVelocity()

void XBot::ImuSensor::getAngularVelocity

(

Eigen::Vector3d &

angular_velocity

)

const

Getter for the IMU angular velocity.

Parameters

angular_velocity

the IMU angular velocity

Returns

void

getImuData() [1/2]

void XBot::ImuSensor::getImuData	(	Eigen::Matrix3d &	orientation,
		Eigen::Vector3d &	acceleration,
		Eigen::Vector3d &	angular_velocity
	)		const

Getter for the IMU data i.e.

orientation(as a rotation matrix), linear acceleration and angular velocity

Parameters

orientation	the IMU orientation as a rotation matrix
accelerationthe	the IMU linear acceleration
angular_velocity	the IMU angular velocity

Returns

void

getImuData() [2/2]

void XBot::ImuSensor::getImuData	(	Eigen::Quaterniond &	orientation,
		Eigen::Vector3d &	acceleration,
		Eigen::Vector3d &	angular_velocity
	)		const

Getter for the IMU data i.e.

orientation(as a quaternion), linear acceleration and angular velocity

Parameters

orientation	the IMU orientation as a quaternion
acceleration	the IMU linear acceleration
angular_velocity	the IMU angular velocity

Returns

void

getLinearAcceleration()

void XBot::ImuSensor::getLinearAcceleration

(

Eigen::Vector3d &

acceleration

)

const

Getter for the IMU linear acceleration.

Parameters

acceleration

the IMU linear acceleration

Returns

void

getOrientation() [1/2]

void XBot::ImuSensor::getOrientation

(

Eigen::Matrix3d &

orientation

)

const

Getter for the IMU orientation as a rotation matrix.

Parameters

orientation

the IMU orientation as a rotation matrix

Returns

void

getOrientation() [2/2]

void XBot::ImuSensor::getOrientation

(

Eigen::Quaterniond &

orientation

)

const

Getter for the IMU orientation as a quaternion.

Parameters

orientation

the IMU orientation as a quaternion

Returns

void

setImuData() [1/2]

void XBot::ImuSensor::setImuData	(	Eigen::Matrix3d &	orientation,
		Eigen::Vector3d &	acceleration,
		Eigen::Vector3d &	angular_velocity,
		double	timestamp
	)

Setter for the IMU data i.e.

orientation(as a rotation matrix), linear acceleration, angular velocity and a timestamp

Parameters

orientation	the IMU orientation as a rotation matrix to set
acceleration	the IMU linear acceleration to set
angular_velocity	the IMU angular velocity to set
timestamp	IMU data reading timestamp to set

Returns

void

setImuData() [2/2]

void XBot::ImuSensor::setImuData	(	Eigen::Quaterniond &	orientation,
		Eigen::Vector3d &	acceleration,
		Eigen::Vector3d &	angular_velocity,
		double	timestamp
	)

Setter for the IMU data i.e.

orientation(as a quaternion), linear acceleration, angular velocity and a timestamp

Parameters

orientation	the IMU orientation as a quaternion to set
acceleration	the IMU linear acceleration to set
angular_velocity	the IMU angular velocity to set
timestamp	IMU data reading timestamp to set

Returns

void

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const XBot::ImuSensor &  j  )

friend

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The documentation for this class was generated from the following files:

• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/ImuSensor.h
• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/ImuSensor.cpp