InertialMeasurementUnit Class Reference

#include <InertialMeasurementUnit.h>

List of all members.

Public Member Functions
osg::Quat	getMeasurement ()
double	getStandardDeviation ()
int	getTFTransform (tf::Pose &pose, std::string &parent)
	InertialMeasurementUnit (std::string imu_name, std::string parentName, osg::Node *imu_parent, osg::Matrixd rMl, double imu_std=0)
virtual	~InertialMeasurementUnit ()
Public Attributes
std::string	name
std::string	parentLinkName
Private Attributes
osg::ref_ptr< osg::Node >	imu_node_
osg::ref_ptr< osg::Node >	parent_
osg::Matrixd	rMl_
boost::mt19937	rng_
	Boost random number generator.
double	std_

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Detailed Description

Definition at line 24 of file InertialMeasurementUnit.h.

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Constructor & Destructor Documentation

InertialMeasurementUnit::InertialMeasurementUnit	(	std::string	imu_name,
		std::string	parentName,
		osg::Node *	imu_parent,
		osg::Matrixd	rMl,
		double	imu_std = 0
	)		[inline]

Constructor

Parameters:

imu_name	the name of the IMU
parentName	the name of the link that holds the IMU
imu_parent	the node of the scene graph that holds the imu
rMl	the imu measures are given with respect to the root (r). Use rMl to transform them to another frame ('l' is the new frame, typically the localized world)
imu_std	the standard deviation on the imu measures

Definition at line 37 of file InertialMeasurementUnit.h.

virtual InertialMeasurementUnit::~InertialMeasurementUnit

(

)

[inline, virtual]

Definition at line 52 of file InertialMeasurementUnit.h.

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Member Function Documentation

osg::Quat InertialMeasurementUnit::getMeasurement

(

)

Definition at line 17 of file InertialMeasurementUnit.cpp.

double InertialMeasurementUnit::getStandardDeviation

(

)

[inline]

Definition at line 47 of file InertialMeasurementUnit.h.

int InertialMeasurementUnit::getTFTransform	(	tf::Pose &	pose,
		std::string &	parent
	)

Definition at line 31 of file InertialMeasurementUnit.cpp.

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Member Data Documentation

osg::ref_ptr<osg::Node> InertialMeasurementUnit::imu_node_ [private]

Definition at line 60 of file InertialMeasurementUnit.h.

std::string InertialMeasurementUnit::name

Definition at line 28 of file InertialMeasurementUnit.h.

osg::ref_ptr<osg::Node> InertialMeasurementUnit::parent_ [private]

Definition at line 57 of file InertialMeasurementUnit.h.

std::string InertialMeasurementUnit::parentLinkName

Definition at line 28 of file InertialMeasurementUnit.h.

osg::Matrixd InertialMeasurementUnit::rMl_ [private]

Definition at line 58 of file InertialMeasurementUnit.h.

boost::mt19937 InertialMeasurementUnit::rng_ [private]

Boost random number generator.

Definition at line 62 of file InertialMeasurementUnit.h.

double InertialMeasurementUnit::std_ [private]

Definition at line 59 of file InertialMeasurementUnit.h.

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

• InertialMeasurementUnit.h
• InertialMeasurementUnit.cpp