#include <gazebo_ros_imu.h>
Public Member Functions | |
GazeboRosIMU () | |
Constructor. More... | |
void | Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf) |
Load the controller. More... | |
virtual | ~GazeboRosIMU () |
Destructor. More... | |
Protected Member Functions | |
virtual void | UpdateChild () |
Update the controller. More... | |
Private Member Functions | |
double | GaussianKernel (double mu, double sigma) |
Gaussian noise generator. More... | |
void | IMUQueueThread () |
void | LoadThread () |
bool | ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
call back when using service More... | |
Private Attributes | |
ignition::math::Vector3d | aeul_ |
ignition::math::Vector3d | apos_ |
boost::thread | callback_queue_thread_ |
boost::thread | deferred_load_thread_ |
std::string | frame_name_ |
store frame name More... | |
double | gaussian_noise_ |
Gaussian noise. More... | |
sensor_msgs::Imu | imu_msg_ |
ros message More... | |
ros::CallbackQueue | imu_queue_ |
ignition::math::Pose3d | initial_pose_ |
: keep initial pose to offset orientation in imu message More... | |
common::Time | last_time_ |
save last_time More... | |
ignition::math::Vector3d | last_veul_ |
ignition::math::Vector3d | last_vpos_ |
physics::LinkPtr | link |
The link referred to by this plugin. More... | |
std::string | link_name_ |
store link name More... | |
boost::mutex | lock_ |
A mutex to lock access to fields that are used in message callbacks. More... | |
ignition::math::Pose3d | offset_ |
allow specifying constant xyz and rpy offsets More... | |
PubMultiQueue | pmq |
ros::Publisher | pub_ |
PubQueue< sensor_msgs::Imu >::Ptr | pub_Queue |
std::string | robot_namespace_ |
for setting ROS name space More... | |
ros::NodeHandle * | rosnode_ |
pointer to ros node More... | |
sdf::ElementPtr | sdf |
unsigned int | seed |
std::string | service_name_ |
ros::ServiceServer | srv_ |
std::string | topic_name_ |
topic name More... | |
event::ConnectionPtr | update_connection_ |
double | update_rate_ |
physics::WorldPtr | world_ |
The parent World. More... | |
Definition at line 39 of file gazebo_ros_imu.h.
gazebo::GazeboRosIMU::GazeboRosIMU | ( | ) |
Constructor.
Definition at line 32 of file gazebo_ros_imu.cpp.
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Destructor.
Definition at line 39 of file gazebo_ros_imu.cpp.
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Gaussian noise generator.
Definition at line 340 of file gazebo_ros_imu.cpp.
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Definition at line 364 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 50 of file gazebo_ros_imu.cpp.
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Definition at line 63 of file gazebo_ros_imu.cpp.
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call back when using service
Definition at line 209 of file gazebo_ros_imu.cpp.
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Update the controller.
Definition at line 217 of file gazebo_ros_imu.cpp.
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Definition at line 89 of file gazebo_ros_imu.h.
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Definition at line 88 of file gazebo_ros_imu.h.
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Definition at line 115 of file gazebo_ros_imu.h.
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Definition at line 123 of file gazebo_ros_imu.h.
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store frame name
Definition at line 72 of file gazebo_ros_imu.h.
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Gaussian noise.
Definition at line 98 of file gazebo_ros_imu.h.
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ros message
Definition at line 66 of file gazebo_ros_imu.h.
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Definition at line 113 of file gazebo_ros_imu.h.
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: keep initial pose to offset orientation in imu message
Definition at line 95 of file gazebo_ros_imu.h.
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save last_time
Definition at line 85 of file gazebo_ros_imu.h.
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Definition at line 87 of file gazebo_ros_imu.h.
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Definition at line 86 of file gazebo_ros_imu.h.
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The link referred to by this plugin.
Definition at line 58 of file gazebo_ros_imu.h.
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store link name
Definition at line 69 of file gazebo_ros_imu.h.
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A mutex to lock access to fields that are used in message callbacks.
Definition at line 82 of file gazebo_ros_imu.h.
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allow specifying constant xyz and rpy offsets
Definition at line 78 of file gazebo_ros_imu.h.
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Definition at line 127 of file gazebo_ros_imu.h.
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Definition at line 62 of file gazebo_ros_imu.h.
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Definition at line 63 of file gazebo_ros_imu.h.
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for setting ROS name space
Definition at line 104 of file gazebo_ros_imu.h.
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pointer to ros node
Definition at line 61 of file gazebo_ros_imu.h.
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Definition at line 121 of file gazebo_ros_imu.h.
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Definition at line 124 of file gazebo_ros_imu.h.
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Definition at line 111 of file gazebo_ros_imu.h.
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Definition at line 110 of file gazebo_ros_imu.h.
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topic name
Definition at line 75 of file gazebo_ros_imu.h.
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Definition at line 118 of file gazebo_ros_imu.h.
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Definition at line 92 of file gazebo_ros_imu.h.
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The parent World.
Definition at line 55 of file gazebo_ros_imu.h.