gazebo-yarp-plugins
Gazebo Plugins exposing YARP interfaces.
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yarp::dev::GazeboYarpIMUDriver Class Reference

#include <IMUDriver.h>

Inheritance diagram for yarp::dev::GazeboYarpIMUDriver:
Collaboration diagram for yarp::dev::GazeboYarpIMUDriver:

Public Member Functions

 GazeboYarpIMUDriver ()
 
virtual ~GazeboYarpIMUDriver ()
 
void onUpdate (const gazebo::common::UpdateInfo &)
 Export an inertial sensor.
 
bool open (yarp::os::Searchable &config) override
 Yarp interfaces start here.
 
bool close () override
 
bool read (yarp::sig::Vector &outVector) override
 
bool getChannels (int *numberOfChannels) override
 
bool calibrate (int channelIndex, double v) override
 
yarp::os::Stamp getLastInputStamp () override
 
size_t getNrOfThreeAxisGyroscopes () const override
 
yarp::dev::MAS_status getThreeAxisGyroscopeStatus (size_t sens_index) const override
 
bool getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
 
bool getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
size_t getNrOfThreeAxisLinearAccelerometers () const override
 
yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
 
bool getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
 
bool getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
size_t getNrOfThreeAxisMagnetometers () const override
 
yarp::dev::MAS_status getThreeAxisMagnetometerStatus (size_t sens_index) const override
 
bool getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
 
bool getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
size_t getNrOfOrientationSensors () const override
 
yarp::dev::MAS_status getOrientationSensorStatus (size_t sens_index) const override
 
bool getOrientationSensorName (size_t sens_index, std::string &name) const override
 
bool getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
 
bool getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
 

Constructor & Destructor Documentation

◆ GazeboYarpIMUDriver()

GazeboYarpIMUDriver::GazeboYarpIMUDriver ( )
default

◆ ~GazeboYarpIMUDriver()

GazeboYarpIMUDriver::~GazeboYarpIMUDriver ( )
virtualdefault

Member Function Documentation

◆ onUpdate()

void GazeboYarpIMUDriver::onUpdate ( const gazebo::common::UpdateInfo & )

Export an inertial sensor.

The network interface is a single Port. We will stream bottles with 12 floats: 0 1 2 = Euler orientation data (Kalman filter processed) 3 4 5 = Calibrated 3-axis (X, Y, Z) acceleration data 6 7 8 = Calibrated 3-axis (X, Y, Z) gyroscope data 9 10 11 = Calibrated 3-axis (X, Y, Z) magnetometer data

Todo
TODO check orientation data
Todo
TODO ensure that the timestamp is the right one

◆ open()

bool GazeboYarpIMUDriver::open ( yarp::os::Searchable & config)
override

Yarp interfaces start here.

◆ close()

bool GazeboYarpIMUDriver::close ( )
override

◆ read()

bool GazeboYarpIMUDriver::read ( yarp::sig::Vector & outVector)
override

◆ getChannels()

bool GazeboYarpIMUDriver::getChannels ( int * numberOfChannels)
override

◆ calibrate()

bool GazeboYarpIMUDriver::calibrate ( int channelIndex,
double v )
override

◆ getLastInputStamp()

yarp::os::Stamp GazeboYarpIMUDriver::getLastInputStamp ( )
override

◆ getNrOfThreeAxisGyroscopes()

size_t GazeboYarpIMUDriver::getNrOfThreeAxisGyroscopes ( ) const
override

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status GazeboYarpIMUDriver::getThreeAxisGyroscopeStatus ( size_t sens_index) const
override

◆ getThreeAxisGyroscopeName()

bool GazeboYarpIMUDriver::getThreeAxisGyroscopeName ( size_t sens_index,
std::string & name ) const
override

◆ getThreeAxisGyroscopeFrameName()

bool GazeboYarpIMUDriver::getThreeAxisGyroscopeFrameName ( size_t sens_index,
std::string & frameName ) const
override

◆ getThreeAxisGyroscopeMeasure()

bool GazeboYarpIMUDriver::getThreeAxisGyroscopeMeasure ( size_t sens_index,
yarp::sig::Vector & out,
double & timestamp ) const
override

◆ getNrOfThreeAxisLinearAccelerometers()

size_t GazeboYarpIMUDriver::getNrOfThreeAxisLinearAccelerometers ( ) const
override

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status GazeboYarpIMUDriver::getThreeAxisLinearAccelerometerStatus ( size_t sens_index) const
override

◆ getThreeAxisLinearAccelerometerName()

bool GazeboYarpIMUDriver::getThreeAxisLinearAccelerometerName ( size_t sens_index,
std::string & name ) const
override

◆ getThreeAxisLinearAccelerometerFrameName()

bool GazeboYarpIMUDriver::getThreeAxisLinearAccelerometerFrameName ( size_t sens_index,
std::string & frameName ) const
override

◆ getThreeAxisLinearAccelerometerMeasure()

bool GazeboYarpIMUDriver::getThreeAxisLinearAccelerometerMeasure ( size_t sens_index,
yarp::sig::Vector & out,
double & timestamp ) const
override

◆ getNrOfThreeAxisMagnetometers()

size_t GazeboYarpIMUDriver::getNrOfThreeAxisMagnetometers ( ) const
override

◆ getThreeAxisMagnetometerStatus()

yarp::dev::MAS_status GazeboYarpIMUDriver::getThreeAxisMagnetometerStatus ( size_t sens_index) const
override

◆ getThreeAxisMagnetometerName()

bool GazeboYarpIMUDriver::getThreeAxisMagnetometerName ( size_t sens_index,
std::string & name ) const
override

◆ getThreeAxisMagnetometerFrameName()

bool GazeboYarpIMUDriver::getThreeAxisMagnetometerFrameName ( size_t sens_index,
std::string & frameName ) const
override

◆ getThreeAxisMagnetometerMeasure()

bool GazeboYarpIMUDriver::getThreeAxisMagnetometerMeasure ( size_t sens_index,
yarp::sig::Vector & out,
double & timestamp ) const
override

◆ getNrOfOrientationSensors()

size_t GazeboYarpIMUDriver::getNrOfOrientationSensors ( ) const
override

◆ getOrientationSensorStatus()

yarp::dev::MAS_status GazeboYarpIMUDriver::getOrientationSensorStatus ( size_t sens_index) const
override

◆ getOrientationSensorName()

bool GazeboYarpIMUDriver::getOrientationSensorName ( size_t sens_index,
std::string & name ) const
override

◆ getOrientationSensorFrameName()

bool GazeboYarpIMUDriver::getOrientationSensorFrameName ( size_t sens_index,
std::string & frameName ) const
override

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool GazeboYarpIMUDriver::getOrientationSensorMeasureAsRollPitchYaw ( size_t sens_index,
yarp::sig::Vector & rpy,
double & timestamp ) const
override

The documentation for this class was generated from the following files: