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27 out << sensorPose << dataIsPresent << timestamp;
28 out << rawMeasurements;
53 rawMeasurements.
resize(tmp.size());
54 for (
size_t i = 0; i < rawMeasurements.size(); i++)
55 rawMeasurements[i] = tmp[i];
59 in >> rawMeasurements;
80 const size_t nOld = dataIsPresent.size();
81 ASSERT_(rawMeasurements.size() == dataIsPresent.size());
87 dataIsPresent[i] =
false;
88 rawMeasurements[i] = 0;
103 o <<
"Sensor pose on the robot: " << sensorPose << endl;
106 "Orientation (degrees): (yaw,pitch,roll)=(%.06f, %.06f, %.06f)\n\n",
147 #define DUMP_IMU_DATA(x) \
148 o << format("%15s = ", #x); \
149 if (dataIsPresent[x]) \
150 o << format("%10f %s\n", rawMeasurements[x], imu_units[x]); \
152 o << "(not present)\n";
@ IMU_YAW_VEL_GLOBAL
yaw angular velocity (global/navigation frame) (rad/sec)
@ IMU_X_ACC_GLOBAL
x-axis acceleration (global/navigation frame) (m/sec2)
@ IMU_MAG_Y
y magnetic field value (local/vehicle frame) (gauss)
@ IMU_ALTITUDE
altitude from an altimeter (meters)
@ IMU_Z_VEL
z-axis velocity (global/navigation frame) (m/sec)
@ IMU_PITCH
orientation pitch absolute value (global/navigation frame) (rad)
@ IMU_MAG_X
x magnetic field value (local/vehicle frame) (gauss)
@ IMU_ROLL_VEL
roll angular velocity (local/vehicle frame) (rad/sec)
@ IMU_WY
angular velocity - y (local/vehicle frame) (rad/sec)
@ IMU_ROLL
orientation roll absolute value (global/navigation frame) (rad)
mrpt::vision::TStereoCalibResults out
@ IMU_PRESSURE
air pressure (Pascals)
#define ASSERT_(f)
Defines an assertion mechanism.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
@ IMU_WZ
angular velocity - z (local/vehicle frame) (rad/sec)
void resize(std::size_t N, bool zeroNewElements=false)
This namespace contains representation of robot actions and observations.
Virtual base class for "archives": classes abstracting I/O streams.
@ IMU_ORI_QUAT_W
Orientation Quaternion W (global/navigation frame)
@ IMU_Y_VEL
y-axis velocity (global/navigation frame) (m/sec)
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
virtual void getDescriptionAsText(std::ostream &o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
@ IMU_Z_ACC
z-axis acceleration (local/vehicle frame) (m/sec2)
constexpr double RAD2DEG(const double x)
Radians to degrees.
@ IMU_MAG_Z
z magnetic field value (local/vehicle frame) (gauss)
@ IMU_ORI_QUAT_Y
Orientation Quaternion Y (global/navigation frame)
@ IMU_TEMPERATURE
temperature (degrees Celsius)
@ IMU_Y
y absolute value (global/navigation frame) (meters)
@ IMU_Z_ACC_GLOBAL
z-axis acceleration (global/navigation frame) (m/sec2)
@ IMU_X_ACC
x-axis acceleration (local/vehicle frame) (m/sec2)
@ IMU_ORI_QUAT_Z
Orientation Quaternion Z (global/navigation frame)
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
Template for column vectors of dynamic size, compatible with Eigen.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
@ IMU_Y_ACC
y-axis acceleration (local/vehicle frame) (m/sec2)
@ IMU_X
x absolute value (global/navigation frame) (meters)
@ IMU_PITCH_VEL_GLOBAL
pitch angular velocity (global/navigation frame) (rad/sec)
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
Declares a class that represents any robot's observation.
@ IMU_YAW
orientation yaw absolute value (global/navigation frame) (rad)
@ IMU_ROLL_VEL_GLOBAL
roll angular velocity (global/navigation frame) (rad/sec)
@ IMU_YAW_VEL
yaw angular velocity (local/vehicle frame) (rad/sec)
@ IMU_Y_ACC_GLOBAL
y-axis acceleration (global/navigation frame) (m/sec2)
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
@ IMU_WX
angular velocity - x (local/vehicle frame) (rad/sec)
@ IMU_Z
z absolute value (global/navigation frame) (meters)
@ IMU_ORI_QUAT_X
Orientation Quaternion X (global/navigation frame)
std::string std::string format(std::string_view fmt, ARGS &&... args)
@ IMU_X_VEL
x-axis velocity (global/navigation frame) (m/sec)
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