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IMUROSPlugin

class gazebo::IMUROSPlugin

class gazebo::IMUROSPlugin
  : public gazebo::ROSBaseModelPlugin

Summary

Members	Descriptions
publicIMUROSPlugin()	Class constructor.
public virtual~IMUROSPlugin()	Class destructor.
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)	Load the plugin.
protected ignition::math::Vector3dmeasLinearAcc	Last measurement of linear acceleration..
protected ignition::math::Vector3dmeasAngularVel	Last measurement of angular velocity.
protected ignition::math::QuaterniondmeasOrientation	(Simulation) time when the last sensor measurement was generated.
protected ignition::math::Vector3dgravityWorld	Gravity vector wrt. reference frame.
protected ignition::math::Vector3dgyroscopeBias	Current (drifting) gyroscope bias.
protected ignition::math::Vector3daccelerometerBias	Current (drifting) accelerometer bias.
protected ignition::math::Vector3dgyroscopeTurnOnBias	Constant turn-on gyroscope bias.
protected ignition::math::Vector3daccelerometerTurnOnBias	Constant turn-on accelerometer bias.
protectedIMUParametersimuParameters	IMU model parameters.
protected sensor_msgs::ImuimuROSMessage	ROS IMU message.
protected virtual boolOnUpdate(const common::UpdateInfo & _info)	Update sensor measurement.
protected voidAddNoise(ignition::math::Vector3d & _linAcc,ignition::math::Vector3d & _angVel,ignition::math::Quaterniond & _orientation,double _dt)	Apply and add nosie model to ideal measurements.

Members

publicIMUROSPlugin()

Class constructor.

public virtual~IMUROSPlugin()

Class destructor.

public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)

Load the plugin.

protected ignition::math::Vector3dmeasLinearAcc

Last measurement of linear acceleration..

protected ignition::math::Vector3dmeasAngularVel

Last measurement of angular velocity.

protected ignition::math::QuaterniondmeasOrientation

(Simulation) time when the last sensor measurement was generated.

protected ignition::math::Vector3dgravityWorld

Gravity vector wrt. reference frame.

protected ignition::math::Vector3dgyroscopeBias

Current (drifting) gyroscope bias.

protected ignition::math::Vector3daccelerometerBias

Current (drifting) accelerometer bias.

protected ignition::math::Vector3dgyroscopeTurnOnBias

Constant turn-on gyroscope bias.

protected ignition::math::Vector3daccelerometerTurnOnBias

Constant turn-on accelerometer bias.

protectedIMUParametersimuParameters

IMU model parameters.

protected sensor_msgs::ImuimuROSMessage

ROS IMU message.

protected virtual boolOnUpdate(const common::UpdateInfo & _info)

Update sensor measurement.

protected voidAddNoise(ignition::math::Vector3d & _linAcc,ignition::math::Vector3d & _angVel,ignition::math::Quaterniond & _orientation,double _dt)

Apply and add nosie model to ideal measurements.