Public Member Functions
osg::Quat	getMeasurement ()
double	getStandardDeviation ()
	InertialMeasurementUnit (std::string imu_name, osg::Node *imu_parent, osg::Matrixd rMl, double imu_std=0)
virtual	~InertialMeasurementUnit ()
Public Attributes
std::string	name
Private Attributes
osg::ref_ptr< osg::Node >	imu_node_
osg::ref_ptr< osg::Node >	parent_
osg::Matrixd	rMl_
boost::mt19937	rng_
	Boost random number generator.
double	std_

Detailed Description

Definition at line 23 of file InertialMeasurementUnit.h.

Constructor & Destructor Documentation

InertialMeasurementUnit::InertialMeasurementUnit	(	std::string	imu_name,
		osg::Node *	imu_parent,
		osg::Matrixd	rMl,
		double	imu_std = `0`
	)		`[inline]`

Constructor

Parameters:

imu_name	the name of the IMU
imu_parent	the node of the scene graph that holds the imu
rMl	the imu measures are given with respect to the root (r). Use rMl to transform them to another frame ('l' is the new frame, typically the localized world)
imu_std	the standard deviation on the imu measures

Definition at line 35 of file InertialMeasurementUnit.h.

virtual InertialMeasurementUnit::~InertialMeasurementUnit ( ) [inline, virtual]

Definition at line 49 of file InertialMeasurementUnit.h.