IMU.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservationIMU.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/random.h>
#include <mvsim/Sensors/SensorBase.h>

#include <mutex>

namespace mvsim
{
class IMU : public SensorBase
{
        DECLARES_REGISTER_SENSOR(IMU)
   public:
        IMU(Simulable& parent, const rapidxml::xml_node<char>* root);
        virtual ~IMU();

        // See docs in base class
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;

        void registerOnServer(mvsim::Client& c) override;

   protected:
        void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                [[maybe_unused]] const mrpt::optional_ref<mrpt::opengl::COpenGLScene>&
                        physical,
                [[maybe_unused]] bool childrenOnly) override;

        void internal_simulate_imu(const TSimulContext& context);

        double angularVelocityStdNoise_ = 2e-4;  
        double linearAccelerationStdNoise_ = 0.017;      

        // Store here all default parameters. This obj will be copied as a
        // "pattern" to fill it with actual data.
        mrpt::obs::CObservationIMU obs_model_;

        std::mutex last_obs_cs_;

        mrpt::obs::CObservationIMU::Ptr last_obs_;

        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_origin_,
                gl_sensor_origin_corner_;

        mrpt::random::CRandomGenerator rng_;
};
}  // namespace mvsim