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9 #ifndef CObservationIMU_H
10 #define CObservationIMU_H
110 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
yaw angular velocity (global/navigation frame) (rad/sec)
x-axis acceleration (global/navigation frame) (m/sec2)
y magnetic field value (local/vehicle frame) (gauss)
std::vector< double > rawMeasurements
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
altitude from an altimeter (meters)
z-axis velocity (global/navigation frame) (m/sec)
orientation pitch absolute value (global/navigation frame) (rad)
x magnetic field value (local/vehicle frame) (gauss)
virtual ~CObservationIMU()
Destructor.
roll angular velocity (local/vehicle frame) (rad/sec)
orientation roll absolute value (global/navigation frame) (rad)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
Orientation Quaternion W (global/navigation frame)
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
pitch angular velocity (local/vehicle frame) (rad/sec)
y-axis velocity (global/navigation frame) (m/sec)
z-axis acceleration (local/vehicle frame) (m/sec2)
z magnetic field value (local/vehicle frame) (gauss)
Orientation Quaternion Y (global/navigation frame)
temperature (degrees Celsius)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
y absolute value (global/navigation frame) (meters)
CObservationIMU()
Constructor.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
z-axis acceleration (global/navigation frame) (m/sec2)
x-axis acceleration (local/vehicle frame) (m/sec2)
Orientation Quaternion Z (global/navigation frame)
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
y-axis acceleration (local/vehicle frame) (m/sec2)
TIMUDataIndex
Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)
x absolute value (global/navigation frame) (meters)
pitch angular velocity (global/navigation frame) (rad/sec)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot.
Declares a class that represents any robot's observation.
std::vector< bool > vector_bool
A type for passing a vector of bools.
orientation yaw absolute value (global/navigation frame) (rad)
roll angular velocity (global/navigation frame) (rad/sec)
yaw angular velocity (local/vehicle frame) (rad/sec)
y-axis acceleration (global/navigation frame) (m/sec2)
z absolute value (global/navigation frame) (meters)
vector_bool dataIsPresent
Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit s...
Orientation Quaternion X (global/navigation frame)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
x-axis velocity (global/navigation frame) (m/sec)
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