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