ImuHandler.h
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00001 
00002 
00003 #ifndef IMU_HANDLER_H
00004 #define IMU_HANDLER_H
00005 
00006 #include <vrep_ros_plugin/GenericObjectHandler.h>
00007 //#include <telekyb_base/Filter/IIRFilter.hpp>
00008 
00009 class ImuHandler : public GenericObjectHandler
00010 {
00011 public:
00012         ImuHandler();
00013         ~ImuHandler();
00014 
00018         void synchronize();
00019 
00023         void handleSimulation();
00024 
00028         unsigned int getObjectType() const;
00029 
00033         bool endOfSimulation();
00034 
00035 protected:
00036 
00040         void _initialize();
00041 
00045         int _handleOfMass;
00046 
00050     simFloat _mass;
00051 
00055         int _handleOfForceSensor;
00056 
00060         ros::Publisher _pub;
00064         double _acquisitionFrequency;
00065 
00069         simFloat _lastPublishedImu;
00070 
00071         //telekyb::IIRFilter* _forceFilter[3];
00072         double _forceFilterCutoff;
00073 };
00074 
00075 
00076 #endif // ndef IMU_HANDLER_H


imu_handler
Author(s): Giovanni Claudio
autogenerated on Wed Sep 9 2015 18:54:55