hardware_interface::ImuSensorHandle Class Reference

A handle used to read the state of a IMU sensor. More...

#include <imu_sensor_interface.h>

Classes
struct	Data

Public Member Functions
const double *	getAngularVelocity () const
const double *	getAngularVelocityCovariance () const
std::string	getFrameId () const
const double *	getLinearAcceleration () const
const double *	getLinearAccelerationCovariance () const
std::string	getName () const
const double *	getOrientation () const
const double *	getOrientationCovariance () const
	ImuSensorHandle (const Data &data=Data())
	ImuSensorHandle (const std::string &name, const std::string &frame_id, const double *orientation, const double *orientation_covariance, const double *angular_velocity, const double *angular_velocity_covariance, const double *linear_acceleration, const double *linear_acceleration_covariance)

Private Attributes
const double *	angular_velocity_
const double *	angular_velocity_covariance_
std::string	frame_id_
const double *	linear_acceleration_
const double *	linear_acceleration_covariance_
std::string	name_
const double *	orientation_
const double *	orientation_covariance_

Detailed Description

A handle used to read the state of a IMU sensor.

Depending on the sensor, not all readings exposed by the handle class might be available. TODO: Document more!

Definition at line 44 of file imu_sensor_interface.h.

Constructor & Destructor Documentation

hardware_interface::ImuSensorHandle::ImuSensorHandle ( const Data &  data = Data() )

inline

Definition at line 69 of file imu_sensor_interface.h.

hardware_interface::ImuSensorHandle::ImuSensorHandle ( const std::string &  name, const std::string &  frame_id, const double *  orientation, const double *  orientation_covariance, const double *  angular_velocity, const double *  angular_velocity_covariance, const double *  linear_acceleration, const double *  linear_acceleration_covariance  )

inline

Parameters

name	The name of the sensor
frame_id	The reference frame to which this sensor is associated
orientation	A pointer to the storage of the orientation value: a quaternion (x,y,z,w)
orientation_covariance	A pointer to the storage of the orientation covariance value: a row major 3x3 matrix about (x,y,z)
angular_velocity	A pointer to the storage of the angular velocity value: a triplet (x,y,z)
angular_velocity_covariance	A pointer to the storage of the angular velocity covariance value: a row major 3x3 matrix about (x,y,z)
linear_acceleration	A pointer to the storage of the linear acceleration value: a triplet (x,y,z)
linear_acceleration_covariance	A pointer to the storage of the linear acceleration covariance value: a row major 3x3 matrix about (x,y,z)

Definition at line 80 of file imu_sensor_interface.h.

Member Function Documentation

const double* hardware_interface::ImuSensorHandle::getAngularVelocity ( ) const

inline

Definition at line 104 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::getAngularVelocityCovariance ( ) const

inline

Definition at line 105 of file imu_sensor_interface.h.

std::string hardware_interface::ImuSensorHandle::getFrameId ( ) const

inline

Definition at line 101 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::getLinearAcceleration ( ) const

inline

Definition at line 106 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::getLinearAccelerationCovariance ( ) const

inline

Definition at line 107 of file imu_sensor_interface.h.

std::string hardware_interface::ImuSensorHandle::getName ( ) const

inline

Definition at line 100 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::getOrientation ( ) const

inline

Definition at line 102 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::getOrientationCovariance ( ) const

inline

Definition at line 103 of file imu_sensor_interface.h.

Member Data Documentation

const double* hardware_interface::ImuSensorHandle::angular_velocity_

private

Definition at line 115 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::angular_velocity_covariance_

private

Definition at line 116 of file imu_sensor_interface.h.

std::string hardware_interface::ImuSensorHandle::frame_id_

private

Definition at line 111 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::linear_acceleration_

private

Definition at line 117 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::linear_acceleration_covariance_

private

Definition at line 118 of file imu_sensor_interface.h.

std::string hardware_interface::ImuSensorHandle::name_

private

Definition at line 110 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::orientation_

private

Definition at line 113 of file imu_sensor_interface.h.

const double* hardware_interface::ImuSensorHandle::orientation_covariance_

private

Definition at line 114 of file imu_sensor_interface.h.

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

• imu_sensor_interface.h