#include <gazebo_ros_imu.h>

Public Member Functions
	GazeboRosIMU ()
	Constructor.
virtual	~GazeboRosIMU ()
	Destructor.
Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
virtual void	Reset ()
virtual void	Update ()
Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator.
bool	ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	call back when using service
bool	SetAccelBiasCallback (hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)
	Bias service callbacks.
bool	SetRateBiasCallback (hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)
Private Attributes
math::Vector3	accel
ros::ServiceServer	accelBiasService
SensorModel3	accelModel
	Sensor models.
std::string	frameId
	frame id
math::Vector3	gravity
math::Vector3	gravity_body
SensorModel	headingModel
sensor_msgs::Imu	imuMsg
	ros message
common::Time	last_time
	save last_time
physics::LinkPtr	link
	The link referred to by this plugin.
std::string	linkName
	store link name
boost::mutex	lock
	A mutex to lock access to fields that are used in message callbacks.
ros::NodeHandle *	node_handle_
	pointer to ros node
math::Quaternion	orientation
	save current body/physics state
ros::Publisher	pub_
math::Vector3	rate
ros::ServiceServer	rateBiasService
SensorModel3	rateModel
std::string	robotNamespace
	for setting ROS name space
std::string	serviceName
ros::ServiceServer	srv_
std::string	topicName
	topic name
common::Time	update_period
event::ConnectionPtr	updateConnection
math::Vector3	velocity
physics::WorldPtr	world
	The parent World.

Detailed Description

Definition at line 78 of file gazebo_ros_imu.h.

Constructor & Destructor Documentation

gazebo::GazeboRosIMU::GazeboRosIMU ( )

Constructor.

Definition at line 72 of file gazebo_ros_imu.cpp.

gazebo::GazeboRosIMU::~GazeboRosIMU ( ) [virtual]

Destructor.

Definition at line 78 of file gazebo_ros_imu.cpp.

Member Function Documentation

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

Gaussian noise generator.

void gazebo::GazeboRosIMU::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		`[protected, virtual]`

Definition at line 91 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::Reset ( ) [protected, virtual]

Definition at line 205 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 219 of file gazebo_ros_imu.cpp.

bool gazebo::GazeboRosIMU::SetAccelBiasCallback	(	hector_gazebo_plugins::SetBias::Request &	req,
		hector_gazebo_plugins::SetBias::Response &	res
	)		`[private]`

Bias service callbacks.

Definition at line 227 of file gazebo_ros_imu.cpp.

bool gazebo::GazeboRosIMU::SetRateBiasCallback	(	hector_gazebo_plugins::SetBias::Request &	req,
		hector_gazebo_plugins::SetBias::Response &	res
	)		`[private]`