#include <gazebo_ros_imu.h>

Inheritance diagram for gazebo::GazeboRosIMU:

Public Member Functions
	GazeboRosIMU ()
	Constructor. More...

virtual	~GazeboRosIMU ()
	Destructor. More...

Protected Member Functions
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

virtual void	Reset ()

virtual void	Update ()

Private Member Functions
double	GaussianKernel (double mu, double sigma)
	Gaussian noise generator. More...

bool	ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	call back when using service More...

bool	SetAccelBiasCallback (hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)
	Bias service callbacks. More...

bool	SetRateBiasCallback (hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res)

Private Attributes
math::Vector3	accel

ros::ServiceServer	accelBiasService

SensorModel3	accelModel
	Sensor models. More...

ros::Publisher	bias_pub_

std::string	bias_topic_

sensor_msgs::Imu	biasMsg

boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > >	dynamic_reconfigure_server_accel_

boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > >	dynamic_reconfigure_server_rate_

boost::shared_ptr< dynamic_reconfigure::Server< SensorModelConfig > >	dynamic_reconfigure_server_yaw_

std::string	frame_id_
	frame id More...

math::Vector3	gravity

sensor_msgs::Imu	imuMsg
	ros message More...

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...

std::string	namespace_
	for setting ROS name space More...

ros::NodeHandle *	node_handle_
	pointer to ros node More...

math::Pose	offset_
	allow specifying constant xyz and rpy offsets More...

math::Quaternion	orientation
	save current body/physics state More...

ros::Publisher	pub_

math::Vector3	rate

ros::ServiceServer	rateBiasService

SensorModel3	rateModel

std::string	serviceName

ros::ServiceServer	srv_

std::string	topic_
	topic name More...

event::ConnectionPtr	updateConnection

UpdateTimer	updateTimer

math::Vector3	velocity

physics::WorldPtr	world
	The parent World. More...

SensorModel	yawModel

Detailed Description

Definition at line 52 of file gazebo_ros_imu.h.

Constructor & Destructor Documentation

gazebo::GazeboRosIMU::GazeboRosIMU ( )

Constructor.

Definition at line 46 of file gazebo_ros_imu.cpp.

gazebo::GazeboRosIMU::~GazeboRosIMU ( )

virtual

Destructor.

Definition at line 52 of file gazebo_ros_imu.cpp.

Member Function Documentation

double gazebo::GazeboRosIMU::GaussianKernel	(	double	mu,
		double	sigma
	)

private

Gaussian noise generator.

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

protectedvirtual

Definition at line 69 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::Reset ( )

protectedvirtual

Definition at line 227 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 246 of file gazebo_ros_imu.cpp.

bool gazebo::GazeboRosIMU::SetAccelBiasCallback	(	hector_gazebo_plugins::SetBias::Request &	req,
		hector_gazebo_plugins::SetBias::Response &	res
	)

private

Bias service callbacks.

Definition at line 258 of file gazebo_ros_imu.cpp.

bool gazebo::GazeboRosIMU::SetRateBiasCallback	(	hector_gazebo_plugins::SetBias::Request &	req,
		hector_gazebo_plugins::SetBias::Response &	res
	)

private

Definition at line 269 of file gazebo_ros_imu.cpp.

void gazebo::GazeboRosIMU::Update ( )

protectedvirtual

Definition at line 282 of file gazebo_ros_imu.cpp.

Member Data Documentation

math::Vector3 gazebo::GazeboRosIMU::accel

private

Definition at line 117 of file gazebo_ros_imu.h.

ros::ServiceServer gazebo::GazeboRosIMU::accelBiasService

private

Definition at line 137 of file gazebo_ros_imu.h.

SensorModel3 gazebo::GazeboRosIMU::accelModel

private

Sensor models.

Definition at line 100 of file gazebo_ros_imu.h.

ros::Publisher gazebo::GazeboRosIMU::bias_pub_

private

Definition at line 76 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::bias_topic_

private

Definition at line 90 of file gazebo_ros_imu.h.

sensor_msgs::Imu gazebo::GazeboRosIMU::biasMsg

private

Definition at line 80 of file gazebo_ros_imu.h.

boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > gazebo::GazeboRosIMU::dynamic_reconfigure_server_accel_

private

Definition at line 149 of file gazebo_ros_imu.h.

boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > gazebo::GazeboRosIMU::dynamic_reconfigure_server_rate_

private

Definition at line 149 of file gazebo_ros_imu.h.

boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > gazebo::GazeboRosIMU::dynamic_reconfigure_server_yaw_

private

Definition at line 149 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::frame_id_

private

frame id

Definition at line 86 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::gravity

private

Definition at line 119 of file gazebo_ros_imu.h.

sensor_msgs::Imu gazebo::GazeboRosIMU::imuMsg

private

ros message

Definition at line 79 of file gazebo_ros_imu.h.

physics::LinkPtr gazebo::GazeboRosIMU::link

private

The link referred to by this plugin.

Definition at line 71 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::link_name_

private

store link name

Definition at line 83 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 105 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::namespace_

private

for setting ROS name space

Definition at line 126 of file gazebo_ros_imu.h.

ros::NodeHandle* gazebo::GazeboRosIMU::node_handle_

private

pointer to ros node

Definition at line 74 of file gazebo_ros_imu.h.

math::Pose gazebo::GazeboRosIMU::offset_

private

allow specifying constant xyz and rpy offsets

Definition at line 96 of file gazebo_ros_imu.h.

math::Quaternion gazebo::GazeboRosIMU::orientation

private

save current body/physics state

Definition at line 115 of file gazebo_ros_imu.h.

ros::Publisher gazebo::GazeboRosIMU::pub_

private

Definition at line 75 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::rate

private

Definition at line 118 of file gazebo_ros_imu.h.

ros::ServiceServer gazebo::GazeboRosIMU::rateBiasService

private

Definition at line 138 of file gazebo_ros_imu.h.

SensorModel3 gazebo::GazeboRosIMU::rateModel

private

Definition at line 101 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::serviceName

private

Definition at line 132 of file gazebo_ros_imu.h.

ros::ServiceServer gazebo::GazeboRosIMU::srv_

private

Definition at line 131 of file gazebo_ros_imu.h.

std::string gazebo::GazeboRosIMU::topic_

private

topic name

Definition at line 89 of file gazebo_ros_imu.h.

event::ConnectionPtr gazebo::GazeboRosIMU::updateConnection

private

Definition at line 147 of file gazebo_ros_imu.h.

UpdateTimer gazebo::GazeboRosIMU::updateTimer

private

Definition at line 146 of file gazebo_ros_imu.h.

math::Vector3 gazebo::GazeboRosIMU::velocity

private

Definition at line 116 of file gazebo_ros_imu.h.

physics::WorldPtr gazebo::GazeboRosIMU::world

private

The parent World.

Definition at line 68 of file gazebo_ros_imu.h.

SensorModel gazebo::GazeboRosIMU::yawModel

private

Definition at line 102 of file gazebo_ros_imu.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation