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

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

• IMUDriver.h
• IMUDriver.cpp