#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
◆ K_DEFAULT_ADIS_ACCELEROMETER_BIAS_CORRELATION_TIME
| #define K_DEFAULT_ADIS_ACCELEROMETER_BIAS_CORRELATION_TIME 300.0 |
Definition at line 46 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ADIS_ACCELEROMETER_NOISE_DENSITY
| #define K_DEFAULT_ADIS_ACCELEROMETER_NOISE_DENSITY 2.0 * 2.0e-3 |
Definition at line 44 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ADIS_ACCELEROMETER_RANDOM_WALK
| #define K_DEFAULT_ADIS_ACCELEROMETER_RANDOM_WALK 2.0 * 3.0e-3 |
Definition at line 45 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ADIS_ACCELEROMETER_TURN_ON_BIAS_SIGMA
| #define K_DEFAULT_ADIS_ACCELEROMETER_TURN_ON_BIAS_SIGMA 20.0e-3 * 9.8 |
Definition at line 47 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ADIS_GYROSCOPE_BIAS_CORRELATION_TIME
| #define K_DEFAULT_ADIS_GYROSCOPE_BIAS_CORRELATION_TIME 1.0e+3 |
Definition at line 42 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ADIS_GYROSCOPE_NOISE_DENSITY
| #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.
◆ K_DEFAULT_ADIS_GYROSCOPE_RANDOM_WALK
| #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.
◆ K_DEFAULT_ADIS_GYROSCOPE_TURN_ON_BIAS_SIGMA
| #define K_DEFAULT_ADIS_GYROSCOPE_TURN_ON_BIAS_SIGMA 0.5 / 180.0 * M_PI |
Definition at line 43 of file IMUROSPlugin.hh.
◆ K_DEFAULT_ORIENTATION_NOISE
| #define K_DEFAULT_ORIENTATION_NOISE 0.5 |
Definition at line 48 of file IMUROSPlugin.hh.