24 #include <sdf/sdf_config.h>
29 inline namespace SDF_VERSION_NAMESPACE {
238 public:
const ignition::math::Vector3d &
CustomRpy()
const;
270 private: ImuPrivate *dataPtr;
Imu contains information about an imu sensor.
Definition: Imu.hh:36
const Noise & LinearAccelerationXNoise() const
Get the noise values related to the body-frame linear acceleration on the X-axis.
void SetAngularVelocityYNoise(const Noise &_noise)
Set the noise values related to the body-frame angular velocity around the Y-axis.
void SetGravityDirX(const ignition::math::Vector3d &_grav) const
Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that ...
void SetAngularVelocityXNoise(const Noise &_noise)
Set the noise values related to the body-frame angular velocity around the X-axis.
bool operator==(const Imu &_imu) const
Return true if both Imu objects contain the same values.
void SetLinearAccelerationXNoise(const Noise &_noise)
Set the noise values related to the body-frame linear acceleration on the X-axis.
Imu & operator=(Imu &&_imu) noexcept
Move assignment operator.
void SetLocalization(const std::string &_localization)
See Localization(const std::string &).
const std::string & CustomRpyParentFrame() const
Get the name of parent frame which the custom_rpy transform is defined relative to.
void SetGravityDirXParentFrame(const std::string &_frame) const
Set the name of parent frame which the GravityDirX vector is defined relative to.
Imu & operator=(const Imu &_imu)
Assignment operator.
const std::string & GravityDirXParentFrame() const
Get the name of parent frame which the GravityDirX vector is defined relative to.
ignition::math::Vector3d & GravityDirX() const
Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector into a plane that ...
void SetCustomRpyParentFrame(const std::string &_frame) const
Set the name of parent frame which the custom_rpy transform is defined relative to.
Imu()
Default constructor.
const Noise & AngularVelocityYNoise() const
Get the noise values related to the body-frame angular velocity around the Y-axis.
void SetCustomRpy(const ignition::math::Vector3d &_rpy) const
See CustomRpy() const.
bool operator!=(const Imu &_imu) const
Return true this Imu object does not contain the same values as the passed in parameter.
const Noise & LinearAccelerationYNoise() const
Get the noise values related to the body-frame linear acceleration on the Y-axis.
const std::string & Localization() const
This string represents special hardcoded use cases that are commonly seen with typical robot IMU's:
Errors Load(ElementPtr _sdf)
Load the IMU based on an element pointer.
Imu(Imu &&_imu) noexcept
Move constructor.
void SetAngularVelocityZNoise(const Noise &_noise)
Set the noise values related to the body-frame angular velocity around the Z-axis.
Imu(const Imu &_imu)
Copy constructor.
const Noise & AngularVelocityZNoise() const
Get the noise values related to the body-frame angular velocity around the Z-axis.
const Noise & LinearAccelerationZNoise() const
Get the noise values related to the body-frame linear acceleration on the Z-axis.
void SetLinearAccelerationZNoise(const Noise &_noise)
Set the noise values related to the body-frame linear acceleration on the Z-axis.
void SetLinearAccelerationYNoise(const Noise &_noise)
Set the noise values related to the body-frame linear acceleration on the Y-axis.
const ignition::math::Vector3d & CustomRpy() const
This field and CustomRpyParentFrame are used when Localization is set to CUSTOM.
const Noise & AngularVelocityXNoise() const
Get the noise values related to the body-frame angular velocity on the X-axis.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:50
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48