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obs/CObservationIMU.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CObservationIMU_H
10#define CObservationIMU_H
11
13#include <mrpt/math/CMatrixD.h>
15#include <mrpt/poses/CPose3D.h>
16#include <mrpt/poses/CPose2D.h>
17
18namespace mrpt
19{
20namespace obs
21{
22
24
25 /** Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)
26 * \ingroup mrpt_obs_grp
27 */
29 {
30 IMU_X_ACC = 0 , //!< x-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
31 IMU_Y_ACC, //!< y-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
32 IMU_Z_ACC, //!< z-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
33 IMU_YAW_VEL, //!< yaw angular velocity (local/vehicle frame) (rad/sec)
34 IMU_PITCH_VEL, //!< pitch angular velocity (local/vehicle frame) (rad/sec)
35 IMU_ROLL_VEL, //!< roll angular velocity (local/vehicle frame) (rad/sec)
36 IMU_X_VEL, //!< x-axis velocity (global/navigation frame) (m/sec)
37 IMU_Y_VEL, //!< y-axis velocity (global/navigation frame) (m/sec)
38 IMU_Z_VEL, //!< z-axis velocity (global/navigation frame) (m/sec)
39 IMU_YAW, //!< orientation yaw absolute value (global/navigation frame) (rad)
40 IMU_PITCH, //!< orientation pitch absolute value (global/navigation frame) (rad)
41 IMU_ROLL, //!< orientation roll absolute value (global/navigation frame) (rad)
42 IMU_X, //!< x absolute value (global/navigation frame) (meters)
43 IMU_Y, //!< y absolute value (global/navigation frame) (meters)
44 IMU_Z, //!< z absolute value (global/navigation frame) (meters)
45 IMU_MAG_X, //!< x magnetic field value (local/vehicle frame) (gauss)
46 IMU_MAG_Y, //!< y magnetic field value (local/vehicle frame) (gauss)
47 IMU_MAG_Z, //!< z magnetic field value (local/vehicle frame) (gauss)
48 IMU_PRESSURE, //!< air pressure (Pascals)
49 IMU_ALTITUDE, //!< altitude from an altimeter (meters)
50 IMU_TEMPERATURE, //!< temperature (degrees Celsius)
51 IMU_ORI_QUAT_X, //!< Orientation Quaternion X (global/navigation frame)
52 IMU_ORI_QUAT_Y, //!< Orientation Quaternion Y (global/navigation frame)
53 IMU_ORI_QUAT_Z, //!< Orientation Quaternion Z (global/navigation frame)
54 IMU_ORI_QUAT_W, //!< Orientation Quaternion W (global/navigation frame)
55 IMU_YAW_VEL_GLOBAL, //!< yaw angular velocity (global/navigation frame) (rad/sec)
56 IMU_PITCH_VEL_GLOBAL,//!< pitch angular velocity (global/navigation frame) (rad/sec)
57 IMU_ROLL_VEL_GLOBAL, //!< roll angular velocity (global/navigation frame) (rad/sec)
58 IMU_X_ACC_GLOBAL, //!< x-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)
59 IMU_Y_ACC_GLOBAL, //!< y-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)
60 IMU_Z_ACC_GLOBAL, //!< z-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)
61
62 // Always leave this last value to reflect the number of enum values
64 };
65
66 /** This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
67 *
68 * The order of the values in each entry of mrpt::obs::CObservationIMU::rawMeasurements is defined as symbolic names in the enum mrpt::obs::TIMUDataIndex.
69 * Check it out also for reference on the unit and the coordinate frame used for each value.
70 *
71 * \sa CObservation
72 * \ingroup mrpt_obs_grp
73 */
75 {
76 // This must be added to any CSerializable derived class:
78
79 public:
80 /** Constructor.
81 */
83 sensorPose(),
84 dataIsPresent(mrpt::obs::COUNT_IMU_DATA_FIELDS,false),
85 rawMeasurements(mrpt::obs::COUNT_IMU_DATA_FIELDS,0)
86 { }
87
88 /** Destructor
89 */
91 { }
92
93 /** The pose of the sensor on the robot. */
95
96 /** Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
97 * See the top of this page for the meaning of the indices.
98 */
100
101 /** The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
102 * \sa dataIsPresent, CObservation::timestamp
103 */
104 std::vector<double> rawMeasurements;
105
106
107 // See base class docs
108 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
109 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
110 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
111
112
113 }; // End of class def.
115
116
117 } // End of namespace
118} // End of namespace
119
120#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
Declares a class that represents any robot's observation.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation,...
std::vector< double > rawMeasurements
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot.
vector_bool dataIsPresent
Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit s...
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
virtual ~CObservationIMU()
Destructor.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
TIMUDataIndex
Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)
@ IMU_MAG_Y
y magnetic field value (local/vehicle frame) (gauss)
@ IMU_Y_ACC_GLOBAL
y-axis acceleration (global/navigation frame) (m/sec2)
@ IMU_MAG_Z
z magnetic field value (local/vehicle frame) (gauss)
@ IMU_YAW_VEL_GLOBAL
yaw angular velocity (global/navigation frame) (rad/sec)
@ IMU_ALTITUDE
altitude from an altimeter (meters)
@ IMU_X_ACC_GLOBAL
x-axis acceleration (global/navigation frame) (m/sec2)
@ IMU_X_ACC
x-axis acceleration (local/vehicle frame) (m/sec2)
@ IMU_PITCH_VEL
pitch angular velocity (local/vehicle frame) (rad/sec)
@ IMU_X
x absolute value (global/navigation frame) (meters)
@ IMU_ROLL_VEL_GLOBAL
roll angular velocity (global/navigation frame) (rad/sec)
@ IMU_ORI_QUAT_W
Orientation Quaternion W (global/navigation frame)
@ IMU_PITCH
orientation pitch absolute value (global/navigation frame) (rad)
@ IMU_PRESSURE
air pressure (Pascals)
@ IMU_ORI_QUAT_Y
Orientation Quaternion Y (global/navigation frame)
@ IMU_YAW
orientation yaw absolute value (global/navigation frame) (rad)
@ IMU_ORI_QUAT_X
Orientation Quaternion X (global/navigation frame)
@ IMU_TEMPERATURE
temperature (degrees Celsius)
@ IMU_Y
y absolute value (global/navigation frame) (meters)
@ IMU_X_VEL
x-axis velocity (global/navigation frame) (m/sec)
@ IMU_Z_ACC
z-axis acceleration (local/vehicle frame) (m/sec2)
@ IMU_Z
z absolute value (global/navigation frame) (meters)
@ IMU_ORI_QUAT_Z
Orientation Quaternion Z (global/navigation frame)
@ IMU_Z_VEL
z-axis velocity (global/navigation frame) (m/sec)
@ IMU_PITCH_VEL_GLOBAL
pitch angular velocity (global/navigation frame) (rad/sec)
@ IMU_ROLL_VEL
roll angular velocity (local/vehicle frame) (rad/sec)
@ IMU_YAW_VEL
yaw angular velocity (local/vehicle frame) (rad/sec)
@ IMU_MAG_X
x magnetic field value (local/vehicle frame) (gauss)
@ IMU_Y_ACC
y-axis acceleration (local/vehicle frame) (m/sec2)
@ IMU_Y_VEL
y-axis velocity (global/navigation frame) (m/sec)
@ IMU_ROLL
orientation roll absolute value (global/navigation frame) (rad)
@ IMU_Z_ACC_GLOBAL
z-axis acceleration (global/navigation frame) (m/sec2)
std::vector< bool > vector_bool
A type for passing a vector of bools.
Definition: types_simple.h:29
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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