#include <gazebo_ros_imu.h>
Public Member Functions | |
| GazeboRosIMU () | |
| Constructor. | |
| void | Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf) |
| Load the controller. | |
| virtual | ~GazeboRosIMU () |
| Destructor. | |
Protected Member Functions | |
| virtual void | UpdateChild () |
| Update the controller. | |
Private Member Functions | |
| double | GaussianKernel (double mu, double sigma) |
| Gaussian noise generator. | |
| void | IMUConnect () |
| void | IMUDisconnect () |
| void | IMUQueueThread () |
| bool | ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
| call back when using service | |
Private Attributes | |
| math::Vector3 | aeul_ |
| math::Vector3 | apos_ |
| boost::thread | callback_queue_thread_ |
| ros::Publisher | deprecated_pub_ |
| double | gaussian_noise_ |
| Gaussian noise. | |
| int | imu_connect_count_ |
| Keep track of number of connctions. | |
| sensor_msgs::Imu | imu_msg_ |
| ros message | |
| ros::CallbackQueue | imu_queue_ |
| math::Pose | initial_pose_ |
| : keep initial pose to offset orientation in imu message | |
| common::Time | last_time_ |
| save last_time | |
| math::Vector3 | last_veul_ |
| math::Vector3 | last_vpos_ |
| physics::LinkPtr | link |
| The link referred to by this plugin. | |
| std::string | link_name_ |
| store link name | |
| boost::mutex | lock_ |
| A mutex to lock access to fields that are used in message callbacks. | |
| math::Pose | offset_ |
| allow specifying constant xyz and rpy offsets | |
| ros::Publisher | pub_ |
| std::string | robot_namespace_ |
| for setting ROS name space | |
| ros::NodeHandle * | rosnode_ |
| pointer to ros node | |
| std::string | service_name_ |
| ros::ServiceServer | srv_ |
| std::string | topic_name_ |
| topic name | |
| event::ConnectionPtr | update_connection_ |
| physics::WorldPtr | world_ |
| The parent World. | |
Definition at line 50 of file gazebo_ros_imu.h.
Constructor.
Definition at line 35 of file gazebo_ros_imu.cpp.
| gazebo::GazeboRosIMU::~GazeboRosIMU | ( | ) | [virtual] |
Destructor.
Definition at line 42 of file gazebo_ros_imu.cpp.
| double gazebo::GazeboRosIMU::GaussianKernel | ( | double | mu, |
| double | sigma | ||
| ) | [private] |
Gaussian noise generator.
Definition at line 290 of file gazebo_ros_imu.cpp.
| void gazebo::GazeboRosIMU::IMUConnect | ( | ) | [private] |
Definition at line 174 of file gazebo_ros_imu.cpp.
| void gazebo::GazeboRosIMU::IMUDisconnect | ( | ) | [private] |
Definition at line 180 of file gazebo_ros_imu.cpp.
| void gazebo::GazeboRosIMU::IMUQueueThread | ( | ) | [private] |
Definition at line 306 of file gazebo_ros_imu.cpp.
| void gazebo::GazeboRosIMU::Load | ( | physics::ModelPtr | _parent, |
| sdf::ElementPtr | _sdf | ||
| ) |
Load the controller.
| node | XML config node |
Definition at line 53 of file gazebo_ros_imu.cpp.
| bool gazebo::GazeboRosIMU::ServiceCallback | ( | std_srvs::Empty::Request & | req, |
| std_srvs::Empty::Response & | res | ||
| ) | [private] |
call back when using service
Definition at line 166 of file gazebo_ros_imu.cpp.
| void gazebo::GazeboRosIMU::UpdateChild | ( | ) | [protected, virtual] |
Update the controller.
Definition at line 187 of file gazebo_ros_imu.cpp.
math::Vector3 gazebo::GazeboRosIMU::aeul_ [private] |
Definition at line 96 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::apos_ [private] |
Definition at line 95 of file gazebo_ros_imu.h.
boost::thread gazebo::GazeboRosIMU::callback_queue_thread_ [private] |
Definition at line 123 of file gazebo_ros_imu.h.
Definition at line 74 of file gazebo_ros_imu.h.
double gazebo::GazeboRosIMU::gaussian_noise_ [private] |
Gaussian noise.
Definition at line 102 of file gazebo_ros_imu.h.
int gazebo::GazeboRosIMU::imu_connect_count_ [private] |
Keep track of number of connctions.
Definition at line 111 of file gazebo_ros_imu.h.
sensor_msgs::Imu gazebo::GazeboRosIMU::imu_msg_ [private] |
ros message
Definition at line 77 of file gazebo_ros_imu.h.
Definition at line 121 of file gazebo_ros_imu.h.
: keep initial pose to offset orientation in imu message
Definition at line 99 of file gazebo_ros_imu.h.
common::Time gazebo::GazeboRosIMU::last_time_ [private] |
save last_time
Definition at line 92 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::last_veul_ [private] |
Definition at line 94 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::last_vpos_ [private] |
Definition at line 93 of file gazebo_ros_imu.h.
physics::LinkPtr gazebo::GazeboRosIMU::link [private] |
The link referred to by this plugin.
Definition at line 69 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::link_name_ [private] |
store link name
Definition at line 80 of file gazebo_ros_imu.h.
boost::mutex gazebo::GazeboRosIMU::lock_ [private] |
A mutex to lock access to fields that are used in message callbacks.
Definition at line 89 of file gazebo_ros_imu.h.
math::Pose gazebo::GazeboRosIMU::offset_ [private] |
allow specifying constant xyz and rpy offsets
Definition at line 86 of file gazebo_ros_imu.h.
ros::Publisher gazebo::GazeboRosIMU::pub_ [private] |
Definition at line 73 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::robot_namespace_ [private] |
for setting ROS name space
Definition at line 108 of file gazebo_ros_imu.h.
ros::NodeHandle* gazebo::GazeboRosIMU::rosnode_ [private] |
pointer to ros node
Definition at line 72 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::service_name_ [private] |
Definition at line 119 of file gazebo_ros_imu.h.
ros::ServiceServer gazebo::GazeboRosIMU::srv_ [private] |
Definition at line 118 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::topic_name_ [private] |
topic name
Definition at line 83 of file gazebo_ros_imu.h.
Definition at line 126 of file gazebo_ros_imu.h.
physics::WorldPtr gazebo::GazeboRosIMU::world_ [private] |
The parent World.
Definition at line 66 of file gazebo_ros_imu.h.