Class robot_dart::sensor::IMU

ClassList > robot_dart > sensor > IMU

Inherits the following classes: robot_dart::sensor::Sensor

Public Functions

Type	Name
	IMU (const IMUConfig & config)
const Eigen::AngleAxisd &	angular_position () const
Eigen::Vector3d	angular_position_vec () const
const Eigen::Vector3d &	angular_velocity () const
virtual void	attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override
virtual void	calculate (double) override
virtual void	init () override
const Eigen::Vector3d &	linear_acceleration () const
virtual std::string	type () override const

Public Functions inherited from robot_dart::sensor::Sensor

See robot_dart::sensor::Sensor

Type	Name
	Sensor (size_t freq=40)
void	activate (bool enable=true)
bool	active () const
virtual void	attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
virtual void	attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
void	attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity())
const std::string &	attached_to () const
virtual void	calculate (double) = 0
void	detach ()
size_t	frequency () const
virtual void	init () = 0
const Eigen::Isometry3d &	pose () const
void	refresh (double t)
void	set_frequency (size_t freq)
void	set_pose (const Eigen::Isometry3d & tf)
void	set_simu (RobotDARTSimu * simu)
const RobotDARTSimu *	simu () const
virtual std::string	type () const = 0
virtual	~Sensor ()

Protected Attributes

Type	Name
Eigen::AngleAxisd	_angular_pos
Eigen::Vector3d	_angular_vel
IMUConfig	_config
Eigen::Vector3d	_linear_accel

Protected Attributes inherited from robot_dart::sensor::Sensor

See robot_dart::sensor::Sensor

Type	Name
bool	_active
Eigen::Isometry3d	_attached_tf
bool	_attached_to_body = = false
bool	_attached_to_joint = = false
bool	_attaching_to_body = = false
bool	_attaching_to_joint = = false
dart::dynamics::BodyNode *	_body_attached
size_t	_frequency
dart::dynamics::Joint *	_joint_attached
RobotDARTSimu *	_simu = = nullptr
Eigen::Isometry3d	_world_pose

Public Functions Documentation

function IMU

robot_dart::sensor::IMU::IMU (
    const IMUConfig & config
) 

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function angular_position

const Eigen::AngleAxisd & robot_dart::sensor::IMU::angular_position () const

---

function angular_position_vec

Eigen::Vector3d robot_dart::sensor::IMU::angular_position_vec () const

---

function angular_velocity

const Eigen::Vector3d & robot_dart::sensor::IMU::angular_velocity () const

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function attach_to_joint

inline virtual void robot_dart::sensor::IMU::attach_to_joint (
    dart::dynamics::Joint *,
    const Eigen::Isometry3d &
) override

Implements robot_dart::sensor::Sensor::attach_to_joint

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function calculate

virtual void robot_dart::sensor::IMU::calculate (
    double
) override

Implements robot_dart::sensor::Sensor::calculate

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function init

virtual void robot_dart::sensor::IMU::init () override

Implements robot_dart::sensor::Sensor::init

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function linear_acceleration

const Eigen::Vector3d & robot_dart::sensor::IMU::linear_acceleration () const

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function type

virtual std::string robot_dart::sensor::IMU::type () override const

Implements robot_dart::sensor::Sensor::type

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Protected Attributes Documentation

variable _angular_pos

Eigen::AngleAxisd robot_dart::sensor::IMU::_angular_pos;

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variable _angular_vel

Eigen::Vector3d robot_dart::sensor::IMU::_angular_vel;

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variable _config

IMUConfig robot_dart::sensor::IMU::_config;

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variable _linear_accel

Eigen::Vector3d robot_dart::sensor::IMU::_linear_accel;

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The documentation for this class was generated from the following file robot_dart/sensor/imu.hpp