Class IMUSensor
Defined in File imu_sensor.hpp
Inheritance Relationships
Base Type
public semantic_components::SemanticComponentInterface< sensor_msgs::msg::Imu >(Template Class SemanticComponentInterface)
Class Documentation
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class IMUSensor : public semantic_components::SemanticComponentInterface<sensor_msgs::msg::Imu>
Public Functions
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inline explicit IMUSensor(const std::string &name)
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virtual ~IMUSensor() = default
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inline std::array<double, 4> get_orientation()
Return orientation.
Return orientation reported by an IMU
- Returns:
array of size 4 with orientation quaternion (x,y,z,w)
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inline std::array<double, 3> get_angular_velocity()
Return angular velocity.
Return angular velocity reported by an IMU
- Returns:
array of size 3 with angular velocity values.
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inline std::array<double, 3> get_linear_acceleration()
Return linear acceleration.
Return linear acceleration reported by an IMU
- Returns:
array of size 3 with linear acceleration values.
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inline bool get_values_as_message(sensor_msgs::msg::Imu &message)
Return Imu message with orientation, angular velocity and linear acceleration.
Constructs and return a IMU message from the current values.
- Returns:
imu message from values;
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inline explicit IMUSensor(const std::string &name)