An Inertial Measurement Unit (IMU) sensor. More...

#include <IMU.h>

Inheritance diagram for mvsim::IMU:

Public Member Functions
	IMU (Simulable &parent, const rapidxml::xml_node< char > *root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

void	registerOnServer (mvsim::Client &c) override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual	~IMU ()

Public Member Functions inherited from mvsim::SensorBase
void	registerOnServer (mvsim::Client &c) override

double	sensor_period () const

	SensorBase (Simulable &vehicle)

virtual void	simulateOn3DScene ([[maybe_unused]] mrpt::opengl::COpenGLScene &gl_scene)

virtual	~SensorBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

Protected Member Functions
void	internal_simulate_imu (const TSimulContext &context)

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

Protected Member Functions inherited from mvsim::SensorBase
void	make_sure_we_have_a_name (const std::string &prefix)
	Assign a sensible default name/sensor label if none is provided: More...

bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)

void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)

void	reportNewObservation_lidar_2d (const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &obs, const TSimulContext &context)

bool	should_simulate_sensor (const TSimulContext &context)

World *	world ()

const World *	world () const

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

bool	parseVisual (const JointXMLnode<> &rootNode)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
double	angularVelocityStdNoise_ = 2e-4
	[rad/s] More...

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

mrpt::obs::CObservationIMU::Ptr	last_obs_

std::mutex	last_obs_cs_

double	linearAccelerationStdNoise_ = 0.017
	[m/s²] More...

mrpt::obs::CObservationIMU	obs_model_

mrpt::random::CRandomGenerator	rng_

Protected Attributes inherited from mvsim::SensorBase
std::string	publishTopic_

std::shared_ptr< mrpt::io::CFileGZOutputStream >	rawlog_io_

std::string	save_to_rawlog_

double	sensor_last_timestamp_ = 0

double	sensor_period_ = 0.1

std::map< std::string, std::string >	varValues_
	Filled in by SensorBase::loadConfigFrom() More...

Simulable &	vehicle_
	The vehicle this sensor is attached to. More...

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::SensorBase
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase::Ptr	factory (Simulable &parent, const rapidxml::xml_node< char > *xml_node)

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsFOVViz ()

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsOriginViz ()

static void	RegisterSensorFOVViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

static void	RegisterSensorOriginViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

An Inertial Measurement Unit (IMU) sensor.

Definition at line 25 of file IMU.h.

Constructor & Destructor Documentation

◆ IMU()

IMU::IMU	(	Simulable &	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 26 of file IMU.cpp.

◆ ~IMU()

IMU::~IMU ( )

virtual

Definition at line 32 of file IMU.cpp.

Member Function Documentation

◆ internal_simulate_imu()

void IMU::internal_simulate_imu ( const TSimulContext & context )

protected

Definition at line 97 of file IMU.cpp.

◆ internalGuiUpdate()

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

overrideprotected

Definition at line 55 of file IMU.cpp.

◆ loadConfigFrom()

void IMU::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Loads the parameters common to all sensors. Should be overriden, and they call to this base method.

Reimplemented from mvsim::SensorBase.

Definition at line 34 of file IMU.cpp.

◆ registerOnServer()

void IMU::registerOnServer ( mvsim::Client & c )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 141 of file IMU.cpp.

◆ simul_post_timestep()

void IMU::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 87 of file IMU.cpp.

◆ simul_pre_timestep()

void IMU::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 84 of file IMU.cpp.

Member Data Documentation

◆ angularVelocityStdNoise_

double mvsim::IMU::angularVelocityStdNoise_ = 2e-4

protected

[rad/s]

Definition at line 49 of file IMU.h.

◆ gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr mvsim::IMU::gl_sensor_origin_

protected

Definition at line 61 of file IMU.h.

◆ gl_sensor_origin_corner_

mrpt::opengl::CSetOfObjects::Ptr mvsim::IMU::gl_sensor_origin_corner_

protected

Definition at line 61 of file IMU.h.

◆ last_obs_

mrpt::obs::CObservationIMU::Ptr mvsim::IMU::last_obs_

protected

Last simulated obs

Definition at line 59 of file IMU.h.

◆ last_obs_cs_

std::mutex mvsim::IMU::last_obs_cs_

protected

Definition at line 56 of file IMU.h.

◆ linearAccelerationStdNoise_

double mvsim::IMU::linearAccelerationStdNoise_ = 0.017

protected

[m/s²]

Definition at line 50 of file IMU.h.

◆ obs_model_

mrpt::obs::CObservationIMU mvsim::IMU::obs_model_

protected

Definition at line 54 of file IMU.h.

◆ rng_

mrpt::random::CRandomGenerator mvsim::IMU::rng_

protected

Definition at line 64 of file IMU.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IMU()

◆ ~IMU()

Member Function Documentation

◆ internal_simulate_imu()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ registerOnServer()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ angularVelocityStdNoise_

◆ gl_sensor_origin_

◆ gl_sensor_origin_corner_

◆ last_obs_

◆ last_obs_cs_

◆ linearAccelerationStdNoise_

◆ obs_model_

◆ rng_