IMUROSPlugin.hh File Reference

#include <gazebo/gazebo.hh>
#include <ros/ros.h>
#include <uuv_sensor_ros_plugins/ROSBaseModelPlugin.hh>
#include <sensor_msgs/Imu.h>
#include "SensorImu.pb.h"

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Classes
struct	gazebo::IMUParameters
	IMUParameters stores all IMU model parameters. A description of these parameters can be found here: https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics. More...
class	gazebo::IMUROSPlugin

Namespaces
	gazebo

Macros
#define	K_DEFAULT_ADIS_ACCELEROMETER_BIAS_CORRELATION_TIME   300.0
#define	K_DEFAULT_ADIS_ACCELEROMETER_NOISE_DENSITY   2.0 * 2.0e-3
#define	K_DEFAULT_ADIS_ACCELEROMETER_RANDOM_WALK   2.0 * 3.0e-3
#define	K_DEFAULT_ADIS_ACCELEROMETER_TURN_ON_BIAS_SIGMA   20.0e-3 * 9.8
#define	K_DEFAULT_ADIS_GYROSCOPE_BIAS_CORRELATION_TIME   1.0e+3
#define	K_DEFAULT_ADIS_GYROSCOPE_NOISE_DENSITY   2.0 * 35.0 / 3600.0 / 180.0 * M_PI
#define	K_DEFAULT_ADIS_GYROSCOPE_RANDOM_WALK   2.0 * 4.0 / 3600.0 / 180.0 * M_PI
#define	K_DEFAULT_ADIS_GYROSCOPE_TURN_ON_BIAS_SIGMA   0.5 / 180.0 * M_PI
#define	K_DEFAULT_ORIENTATION_NOISE   0.5

Macro Definition Documentation

#define K_DEFAULT_ADIS_ACCELEROMETER_BIAS_CORRELATION_TIME   300.0

Definition at line 46 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_ACCELEROMETER_NOISE_DENSITY   2.0 * 2.0e-3

Definition at line 44 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_ACCELEROMETER_RANDOM_WALK   2.0 * 3.0e-3

Definition at line 45 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_ACCELEROMETER_TURN_ON_BIAS_SIGMA   20.0e-3 * 9.8

Definition at line 47 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_GYROSCOPE_BIAS_CORRELATION_TIME   1.0e+3

Definition at line 42 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_GYROSCOPE_NOISE_DENSITY   2.0 * 35.0 / 3600.0 / 180.0 * M_PI

Definition at line 40 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_GYROSCOPE_RANDOM_WALK   2.0 * 4.0 / 3600.0 / 180.0 * M_PI

Definition at line 41 of file IMUROSPlugin.hh.

#define K_DEFAULT_ADIS_GYROSCOPE_TURN_ON_BIAS_SIGMA   0.5 / 180.0 * M_PI

Definition at line 43 of file IMUROSPlugin.hh.

#define K_DEFAULT_ORIENTATION_NOISE   0.5

Definition at line 48 of file IMUROSPlugin.hh.