#include <IMUROSPlugin.hh>
Inheritance diagram for gazebo::IMUROSPlugin:
Public Member Functions | |
| IMUROSPlugin () | |
| Class constructor. More... | |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
| Load the plugin. More... | |
| virtual | ~IMUROSPlugin () |
| Class destructor. More... | |
 Public Member Functions inherited from gazebo::ROSBaseModelPlugin | |
| ROSBaseModelPlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBaseModelPlugin () |
| Class destructor. More... | |
| Public Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | AddNoiseModel (std::string _name, double _sigma) |
| Add noise normal distribution to the list. More... | |
| bool | InitBasePlugin (sdf::ElementPtr _sdf) |
| Initialize base plugin. More... | |
| ROSBasePlugin () | |
| Class constructor. More... | |
| virtual | ~ROSBasePlugin () |
| Class destructor. More... | |
Protected Member Functions | |
| void | AddNoise (ignition::math::Vector3d &_linAcc, ignition::math::Vector3d &_angVel, ignition::math::Quaterniond &_orientation, double _dt) |
| Apply and add nosie model to ideal measurements. More... | |
| virtual bool | OnUpdate (const common::UpdateInfo &_info) |
| Update sensor measurement. More... | |
| Protected Member Functions inherited from gazebo::ROSBaseModelPlugin | |
| void | SendLocalNEDTransform () |
| Returns true if the base_link_ned frame exists. More... | |
| Protected Member Functions inherited from gazebo::ROSBasePlugin | |
| bool | ChangeSensorState (uuv_sensor_ros_plugins_msgs::ChangeSensorState::Request &_req, uuv_sensor_ros_plugins_msgs::ChangeSensorState::Response &_res) |
| Change sensor state (ON/OFF) More... | |
| bool | EnableMeasurement (const common::UpdateInfo &_info) const |
| Enables generation of simulated measurement if the timeout since the last update has been reached. More... | |
| double | GetGaussianNoise (double _amp) |
| Returns noise value for a function with zero mean from the default Gaussian noise model. More... | |
| double | GetGaussianNoise (std::string _name, double _amp) |
| Returns noise value for a function with zero mean from a Gaussian noise model according to the model name. More... | |
| void | GetTFMessage (const tf::tfMessage::ConstPtr &_msg) |
| Callback function for the static TF message. More... | |
| bool | IsOn () |
| Returns true if the plugin is activated. More... | |
| void | PublishState () |
| Publish the current state of the plugin. More... | |
| void | UpdateReferenceFramePose () |
| Updates the pose of the reference frame wrt the world frame. More... | |
Protected Attributes | |
| ignition::math::Vector3d | accelerometerBias |
| Current (drifting) accelerometer bias. More... | |
| ignition::math::Vector3d | accelerometerTurnOnBias |
| Constant turn-on accelerometer bias. More... | |
| ignition::math::Vector3d | gravityWorld |
| Gravity vector wrt. reference frame. More... | |
| ignition::math::Vector3d | gyroscopeBias |
| Current (drifting) gyroscope bias. More... | |
| ignition::math::Vector3d | gyroscopeTurnOnBias |
| Constant turn-on gyroscope bias. More... | |
| IMUParameters | imuParameters |
| IMU model parameters. More... | |
| sensor_msgs::Imu | imuROSMessage |
| ROS IMU message. More... | |
| ignition::math::Vector3d | measAngularVel |
| Last measurement of angular velocity. More... | |
| ignition::math::Vector3d | measLinearAcc |
| Last measurement of linear acceleration.. More... | |
| ignition::math::Quaterniond | measOrientation |
| (Simulation) time when the last sensor measurement was generated. More... | |
| Protected Attributes inherited from gazebo::ROSBaseModelPlugin | |
| bool | enableLocalNEDFrame |
| True if a the local NED frame needs to be broadcasted. More... | |
| physics::LinkPtr | link |
| Pointer to the link. More... | |
| ignition::math::Pose3d | localNEDFrame |
| Pose of the local NED frame wrt link frame. More... | |
| physics::ModelPtr | model |
| Pointer to the model. More... | |
| tf::TransformBroadcaster * | tfBroadcaster |
| TF broadcaster for the local NED frame. More... | |
| tf::StampedTransform | tfLocalNEDFrame |
| Local NED TF frame. More... | |
| Protected Attributes inherited from gazebo::ROSBasePlugin | |
| ros::ServiceServer | changeSensorSrv |
| Service server object. More... | |
| bool | gazeboMsgEnabled |
| Flag set to true if the Gazebo sensors messages are supposed to be published as well (it can avoid unnecessary overhead in case) the sensor messages needed are only ROS messages. More... | |
| transport::NodePtr | gazeboNode |
| Gazebo's node handle for transporting measurement messages. More... | |
| transport::PublisherPtr | gazeboSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std_msgs::Bool | isOn |
| Flag to control the generation of output messages. More... | |
| bool | isReferenceInit |
| Flag set to true if reference frame initialized. More... | |
| common::Time | lastMeasurementTime |
| (Simulation) time when the last sensor measurement was generated. More... | |
| double | noiseAmp |
| Noise amplitude. More... | |
| std::map< std::string, std::normal_distribution< double > > | noiseModels |
| Normal distribution describing the noise models. More... | |
| double | noiseSigma |
| Noise standard deviation. More... | |
| ros::Publisher | pluginStatePub |
| ROS publisher for the switchable sensor data. More... | |
| ignition::math::Pose3d | referenceFrame |
| Pose of the reference frame wrt world frame. More... | |
| std::string | referenceFrameID |
| Frame ID of the reference frame. More... | |
| physics::LinkPtr | referenceLink |
| Reference link. More... | |
| std::default_random_engine | rndGen |
| Pseudo random number generator. More... | |
| std::string | robotNamespace |
| Robot namespace. More... | |
| boost::shared_ptr< ros::NodeHandle > | rosNode |
| ROS node handle for communication with ROS. More... | |
| ros::Publisher | rosSensorOutputPub |
| Gazebo's publisher for transporting measurement messages. More... | |
| std::string | sensorOutputTopic |
| Name of the sensor's output topic. More... | |
| ros::Subscriber | tfStaticSub |
| ROS subscriber for the TF static reference frame. More... | |
| event::ConnectionPtr | updateConnection |
| Pointer to the update event connection. More... | |
| double | updateRate |
| Sensor update rate. More... | |
| physics::WorldPtr | world |
| Pointer to the world. More... | |
Detailed Description
Definition at line 106 of file IMUROSPlugin.hh.
Constructor & Destructor Documentation
| gazebo::IMUROSPlugin::IMUROSPlugin | ( | ) |
Class constructor.
Definition at line 35 of file IMUROSPlugin.cc.
|
virtual |
Class destructor.
Definition at line 39 of file IMUROSPlugin.cc.
Member Function Documentation
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protected |
Apply and add nosie model to ideal measurements.
Gyroscope
Accelerometer
Orientation
Definition at line 323 of file IMUROSPlugin.cc.
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virtual |
Load the plugin.
Reimplemented from gazebo::ROSBaseModelPlugin.
Definition at line 43 of file IMUROSPlugin.cc.
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protectedvirtual |
Update sensor measurement.
Reimplemented from gazebo::ROSBaseModelPlugin.
Definition at line 150 of file IMUROSPlugin.cc.
Member Data Documentation
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protected |
Current (drifting) accelerometer bias.
Definition at line 142 of file IMUROSPlugin.hh.
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protected |
Constant turn-on accelerometer bias.
Definition at line 148 of file IMUROSPlugin.hh.
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protected |
Gravity vector wrt. reference frame.
Definition at line 136 of file IMUROSPlugin.hh.
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protected |
Current (drifting) gyroscope bias.
Definition at line 139 of file IMUROSPlugin.hh.
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protected |
Constant turn-on gyroscope bias.
Definition at line 145 of file IMUROSPlugin.hh.
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protected |
IMU model parameters.
Definition at line 151 of file IMUROSPlugin.hh.
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protected |
ROS IMU message.
Definition at line 154 of file IMUROSPlugin.hh.
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protected |
Last measurement of angular velocity.
Definition at line 130 of file IMUROSPlugin.hh.
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protected |
Last measurement of linear acceleration..
Definition at line 127 of file IMUROSPlugin.hh.
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protected |
(Simulation) time when the last sensor measurement was generated.
Definition at line 133 of file IMUROSPlugin.hh.
The documentation for this class was generated from the following files: