This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements).
The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the TIMUDataIndex "enum" symbolic names):
0 | IMU_X_ACC | x-axis acceleration (m/sec2) |
1 | IMU_Y_ACC | y-axis acceleration (m/sec2) |
2 | IMU_Z_ACC | z-axis acceleration (m/sec2) |
3 | IMU_YAW_VEL | yaw angular velocity (rad/sec) |
4 | IMU_PITCH_VEL | pitch angular velocity (rad/sec) |
5 | IMU_ROLL_VEL | roll angular velocity (rad/sec) |
6 | IMU_X_VEL | x-axis velocity (m/sec) |
7 | IMU_Y_VEL | y-axis velocity (m/sec) |
8 | IMU_Z_VEL | z-axis velocity (m/sec) |
9 | IMU_YAW | yaw absolute value (rad) |
10 | IMU_PITCH | pitch absolute value (rad) |
11 | IMU_ROLL | roll absolute value (rad) |
12 | IMU_X | x absolute value (meters) |
13 | IMU_Y | y absolute value (meters) |
14 | IMU_Z | z absolute value (meters) |
The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.
Definition at line 90 of file CObservationIMU.h.
#include <mrpt/slam/CObservationIMU.h>
Public Member Functions | |
CObservationIMU () | |
Constructor. | |
virtual | ~CObservationIMU () |
Destructor. | |
void | getSensorPose (CPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const CPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
Public Attributes | |
CPose3D | sensorPose |
The pose of the sensor on the robot. | |
vector_bool | dataIsPresent |
Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data). | |
std::vector< double > | rawMeasurements |
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp. | |
RTTI stuff | |
typedef CObservationIMUPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationIMU |
static mrpt::utils::TRuntimeClassId | classCObservationIMU |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationIMUPtr | Create () |
A typedef for the associated smart pointer
Definition at line 93 of file CObservationIMU.h.
mrpt::slam::CObservationIMU::CObservationIMU | ( | ) | [inline] |
Constructor.
Definition at line 98 of file CObservationIMU.h.
virtual mrpt::slam::CObservationIMU::~CObservationIMU | ( | ) | [inline, virtual] |
Destructor.
Definition at line 106 of file CObservationIMU.h.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
static CObservationIMUPtr mrpt::slam::CObservationIMU::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationIMU::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CObservationIMU::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
void mrpt::slam::CObservationIMU::getSensorPose | ( | CPose3D & | out_sensorPose ) | const [inline, virtual] |
A general method to retrieve the sensor pose on the robot.
Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 128 of file CObservationIMU.h.
void mrpt::slam::CObservationIMU::setSensorPose | ( | const CPose3D & | newSensorPose ) | [inline, virtual] |
A general method to change the sensor pose on the robot.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 135 of file CObservationIMU.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationIMU::_init_CObservationIMU [static, protected] |
Definition at line 93 of file CObservationIMU.h.
Definition at line 93 of file CObservationIMU.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::classinfo [static] |
Definition at line 93 of file CObservationIMU.h.
Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
See the top of this page for the meaning of the indices.
Definition at line 116 of file CObservationIMU.h.
std::vector<double> mrpt::slam::CObservationIMU::rawMeasurements |
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
Definition at line 121 of file CObservationIMU.h.
The pose of the sensor on the robot.
Definition at line 111 of file CObservationIMU.h.
Page generated by Doxygen 1.7.2 for MRPT 0.9.4 SVN: at Mon Jan 10 22:46:17 UTC 2011 |