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	IMUQueueThread ()
void	LoadThread ()
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_
boost::thread	deferred_load_thread_
double	gaussian_noise_
	Gaussian noise.
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
PubMultiQueue	pmq
ros::Publisher	pub_
PubQueue< sensor_msgs::Imu >::Ptr	pub_Queue
std::string	robot_namespace_
	for setting ROS name space
ros::NodeHandle *	rosnode_
	pointer to ros node
sdf::ElementPtr	sdf
unsigned int	seed
std::string	service_name_
ros::ServiceServer	srv_
std::string	topic_name_
	topic name
event::ConnectionPtr	update_connection_
double	update_rate_
physics::WorldPtr	world_
	The parent World.

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Detailed Description

Definition at line 39 of file gazebo_ros_imu.h.

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Constructor & Destructor Documentation

gazebo::GazeboRosIMU::GazeboRosIMU

(

)

Constructor.

Definition at line 32 of file gazebo_ros_imu.cpp.

gazebo::GazeboRosIMU::~GazeboRosIMU

(

)

[virtual]

Destructor.

Definition at line 39 of file gazebo_ros_imu.cpp.

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Member Function Documentation

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

Gaussian noise generator.

Definition at line 307 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::IMUQueueThread

(

)

[private]

Definition at line 331 of file gazebo_ros_imu.cpp.

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

Load the controller.

Parameters:

node	XML config node

Definition at line 50 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::LoadThread

(

)

[private]

Definition at line 63 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 189 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 197 of file gazebo_ros_imu.cpp.

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Member Data Documentation

math::Vector3 gazebo::GazeboRosIMU::aeul_ [private]

Definition at line 86 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::apos_ [private]

Definition at line 85 of file gazebo_ros_imu.h.

boost::thread gazebo::GazeboRosIMU::callback_queue_thread_ [private]

Definition at line 112 of file gazebo_ros_imu.h.

boost::thread gazebo::GazeboRosIMU::deferred_load_thread_ [private]

Definition at line 120 of file gazebo_ros_imu.h.

double gazebo::GazeboRosIMU::gaussian_noise_ [private]

Gaussian noise.

Definition at line 95 of file gazebo_ros_imu.h.

sensor_msgs::Imu gazebo::GazeboRosIMU::imu_msg_ [private]

ros message

Definition at line 66 of file gazebo_ros_imu.h.

ros::CallbackQueue gazebo::GazeboRosIMU::imu_queue_ [private]

Definition at line 110 of file gazebo_ros_imu.h.

math::Pose gazebo::GazeboRosIMU::initial_pose_ [private]

: keep initial pose to offset orientation in imu message

Definition at line 92 of file gazebo_ros_imu.h.

common::Time gazebo::GazeboRosIMU::last_time_ [private]

save last_time

Definition at line 82 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::last_veul_ [private]

Definition at line 84 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::last_vpos_ [private]

Definition at line 83 of file gazebo_ros_imu.h.

physics::LinkPtr gazebo::GazeboRosIMU::link [private]

The link referred to by this plugin.

Definition at line 58 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::link_name_ [private]

store link name

Definition at line 69 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 79 of file gazebo_ros_imu.h.

math::Pose gazebo::GazeboRosIMU::offset_ [private]

allow specifying constant xyz and rpy offsets

Definition at line 75 of file gazebo_ros_imu.h.

PubMultiQueue gazebo::GazeboRosIMU::pmq [private]

Definition at line 124 of file gazebo_ros_imu.h.

ros::Publisher gazebo::GazeboRosIMU::pub_ [private]

Definition at line 62 of file gazebo_ros_imu.h.

PubQueue<sensor_msgs::Imu>::Ptr gazebo::GazeboRosIMU::pub_Queue [private]

Definition at line 63 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::robot_namespace_ [private]

for setting ROS name space

Definition at line 101 of file gazebo_ros_imu.h.

ros::NodeHandle* gazebo::GazeboRosIMU::rosnode_ [private]

pointer to ros node

Definition at line 61 of file gazebo_ros_imu.h.

sdf::ElementPtr gazebo::GazeboRosIMU::sdf [private]

Definition at line 118 of file gazebo_ros_imu.h.

unsigned int gazebo::GazeboRosIMU::seed [private]

Definition at line 121 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::service_name_ [private]

Definition at line 108 of file gazebo_ros_imu.h.

ros::ServiceServer gazebo::GazeboRosIMU::srv_ [private]

Definition at line 107 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::topic_name_ [private]

topic name

Definition at line 72 of file gazebo_ros_imu.h.

event::ConnectionPtr gazebo::GazeboRosIMU::update_connection_ [private]

Definition at line 115 of file gazebo_ros_imu.h.

double gazebo::GazeboRosIMU::update_rate_ [private]

Definition at line 89 of file gazebo_ros_imu.h.

physics::WorldPtr gazebo::GazeboRosIMU::world_ [private]

The parent World.

Definition at line 55 of file gazebo_ros_imu.h.

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

• gazebo_ros_imu.h
• gazebo_ros_imu.cpp