IMU.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/obs/CObservationIMU.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/random.h>
#include <mvsim/Sensors/SensorBase.h>
 
#include <mutex>
 
namespace mvsim
{
class IMU : public SensorBase
{
        DECLARES_REGISTER_SENSOR(IMU)
   public:
        IMU(Simulable& parent, const rapidxml::xml_node<char>* root);
        virtual ~IMU();
 
        // See docs in base class
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
 
        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;
 
        void registerOnServer(mvsim::Client& c) override;
 
   protected:
        void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                [[maybe_unused]] const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                [[maybe_unused]] bool childrenOnly) override;
 
        void notifySimulableSetPose(const mrpt::math::TPose3D& newPose) override;
 
        mrpt::math::TPose3D getRelativePose() const override { return obs_model_.sensorPose.asTPose(); }
        void setRelativePose(const mrpt::math::TPose3D& p) override
        {
                obs_model_.sensorPose = mrpt::poses::CPose3D(p);
        }
 
        void internal_simulate_imu(const TSimulContext& context);
 
        double angularVelocityStdNoise_ = 2e-4;  
        double linearAccelerationStdNoise_ = 0.017;      
 
        // Store here all default parameters. This obj will be copied as a
        // "pattern" to fill it with actual data.
        mrpt::obs::CObservationIMU obs_model_;
 
        std::mutex last_obs_cs_;
 
        mrpt::obs::CObservationIMU::Ptr last_obs_;
 
        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_origin_, gl_sensor_origin_corner_;
 
        mrpt::random::CRandomGenerator rng_;
};
}  // namespace mvsim