#include <gazebo_ros_imu.h>
Public Member Functions | |
GazeboRosIMU () | |
Constructor. | |
virtual | ~GazeboRosIMU () |
Destructor. | |
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. | |
bool | ServiceCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
call back when using service | |
bool | SetAccelBiasCallback (hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res) |
Bias service callbacks. | |
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. | |
std::string | frameId |
frame id | |
math::Vector3 | gravity |
math::Vector3 | gravity_body |
SensorModel | headingModel |
sensor_msgs::Imu | imuMsg |
ros message | |
common::Time | last_time |
save last_time | |
physics::LinkPtr | link |
The link referred to by this plugin. | |
std::string | linkName |
store link name | |
boost::mutex | lock |
A mutex to lock access to fields that are used in message callbacks. | |
ros::NodeHandle * | node_handle_ |
pointer to ros node | |
math::Quaternion | orientation |
save current body/physics state | |
ros::Publisher | pub_ |
math::Vector3 | rate |
ros::ServiceServer | rateBiasService |
SensorModel3 | rateModel |
std::string | robotNamespace |
for setting ROS name space | |
std::string | serviceName |
ros::ServiceServer | srv_ |
std::string | topicName |
topic name | |
common::Time | update_period |
event::ConnectionPtr | updateConnection |
math::Vector3 | velocity |
physics::WorldPtr | world |
The parent World. |
Definition at line 78 of file gazebo_ros_imu.h.
Constructor.
Definition at line 72 of file gazebo_ros_imu.cpp.
gazebo::GazeboRosIMU::~GazeboRosIMU | ( | ) | [virtual] |
Destructor.
Definition at line 78 of file gazebo_ros_imu.cpp.
double gazebo::GazeboRosIMU::GaussianKernel | ( | double | mu, |
double | sigma | ||
) | [private] |
Gaussian noise generator.
void gazebo::GazeboRosIMU::Load | ( | physics::ModelPtr | _model, |
sdf::ElementPtr | _sdf | ||
) | [protected, virtual] |
Definition at line 91 of file gazebo_ros_imu.cpp.
void gazebo::GazeboRosIMU::Reset | ( | ) | [protected, virtual] |
Definition at line 205 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 219 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 227 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 234 of file gazebo_ros_imu.cpp.
void gazebo::GazeboRosIMU::Update | ( | ) | [protected, virtual] |
Definition at line 243 of file gazebo_ros_imu.cpp.
math::Vector3 gazebo::GazeboRosIMU::accel [private] |
Definition at line 130 of file gazebo_ros_imu.h.
ros::ServiceServer gazebo::GazeboRosIMU::accelBiasService [private] |
Definition at line 150 of file gazebo_ros_imu.h.
SensorModel3 gazebo::GazeboRosIMU::accelModel [private] |
Sensor models.
Definition at line 116 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::frameId [private] |
frame id
Definition at line 110 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::gravity [private] |
Definition at line 132 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::gravity_body [private] |
Definition at line 133 of file gazebo_ros_imu.h.
Definition at line 118 of file gazebo_ros_imu.h.
sensor_msgs::Imu gazebo::GazeboRosIMU::imuMsg [private] |
ros message
Definition at line 104 of file gazebo_ros_imu.h.
common::Time gazebo::GazeboRosIMU::last_time [private] |
save last_time
Definition at line 124 of file gazebo_ros_imu.h.
physics::LinkPtr gazebo::GazeboRosIMU::link [private] |
The link referred to by this plugin.
Definition at line 97 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::linkName [private] |
store link name
Definition at line 107 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 121 of file gazebo_ros_imu.h.
ros::NodeHandle* gazebo::GazeboRosIMU::node_handle_ [private] |
pointer to ros node
Definition at line 100 of file gazebo_ros_imu.h.
math::Quaternion gazebo::GazeboRosIMU::orientation [private] |
save current body/physics state
Definition at line 128 of file gazebo_ros_imu.h.
ros::Publisher gazebo::GazeboRosIMU::pub_ [private] |
Definition at line 101 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::rate [private] |
Definition at line 131 of file gazebo_ros_imu.h.
ros::ServiceServer gazebo::GazeboRosIMU::rateBiasService [private] |
Definition at line 151 of file gazebo_ros_imu.h.
SensorModel3 gazebo::GazeboRosIMU::rateModel [private] |
Definition at line 117 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::robotNamespace [private] |
for setting ROS name space
Definition at line 139 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::serviceName [private] |
Definition at line 145 of file gazebo_ros_imu.h.
ros::ServiceServer gazebo::GazeboRosIMU::srv_ [private] |
Definition at line 144 of file gazebo_ros_imu.h.
std::string gazebo::GazeboRosIMU::topicName [private] |
topic name
Definition at line 113 of file gazebo_ros_imu.h.
common::Time gazebo::GazeboRosIMU::update_period [private] |
Definition at line 125 of file gazebo_ros_imu.h.
event::ConnectionPtr gazebo::GazeboRosIMU::updateConnection [private] |
Definition at line 160 of file gazebo_ros_imu.h.
math::Vector3 gazebo::GazeboRosIMU::velocity [private] |
Definition at line 129 of file gazebo_ros_imu.h.
physics::WorldPtr gazebo::GazeboRosIMU::world [private] |
The parent World.
Definition at line 94 of file gazebo_ros_imu.h.