Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
gazebo::GazeboRosIMU Class Reference

#include <gazebo_ros_imu.h>

List of all members.

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::NodeHandlerosnode_
 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.

Detailed Description

Definition at line 50 of file gazebo_ros_imu.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 35 of file gazebo_ros_imu.cpp.

Destructor.

Definition at line 42 of file gazebo_ros_imu.cpp.


Member Function Documentation

double gazebo::GazeboRosIMU::GaussianKernel ( double  mu,
double  sigma 
) [private]

Gaussian noise generator.

Definition at line 290 of file gazebo_ros_imu.cpp.

Definition at line 174 of file gazebo_ros_imu.cpp.

Definition at line 180 of file gazebo_ros_imu.cpp.

Definition at line 306 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::Load ( physics::ModelPtr  _parent,
sdf::ElementPtr  _sdf 
)

Load the controller.

Parameters:
nodeXML 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.

Todo:
: let user set separate linear and angular covariance values.
Todo:
: apply appropriate rotations from frame_pose

Definition at line 187 of file gazebo_ros_imu.cpp.


Member Data Documentation

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.

Definition at line 123 of file gazebo_ros_imu.h.

Definition at line 74 of file gazebo_ros_imu.h.

Gaussian noise.

Definition at line 102 of file gazebo_ros_imu.h.

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.

allow specifying constant xyz and rpy offsets

Definition at line 86 of file gazebo_ros_imu.h.

Definition at line 73 of file gazebo_ros_imu.h.

for setting ROS name space

Definition at line 108 of file gazebo_ros_imu.h.

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.

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.


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


gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sun Jan 5 2014 11:34:58