iDynTree::AccelerometerSensor class
#include <iDynTree/AccelerometerSensor.h>

Interface to the Accelerometer class.

An implementation of the Accelerometer Sensor

Base classes

class LinkSensor: Interface for Sensor that are associated to a Link.

Constructors, destructors, conversion operators

AccelerometerSensor(): Constructor.
AccelerometerSensor(const AccelerometerSensor& other): Copy constructor.
~AccelerometerSensor() virtual: Destructor.

Public functions

auto operator=(const AccelerometerSensor& other) -> AccelerometerSensor&: Copy operator.
auto setName(const std::string& _name) -> bool virtual: Set the name (id) of the sensor.
auto setLinkSensorTransform(const iDynTree::Transform& link_H_sensor) -> bool virtual: Set the transform from the sensor to the parent link attached to the sensor.
auto setParentLink(const std::string& parentLinkName) -> bool virtual: Set the name of the parent Link.
auto setParentLinkIndex(const LinkIndex&) -> bool virtual: Set the numeric index of the parent link of the sensor.
auto getName() const -> std::string virtual: Get the id (name) of sensor.
auto getSensorType() const -> SensorType virtual: Get the type of the sensor.
auto getParentLink() const -> std::string virtual: Get the name of the parent Link.
auto getParentLinkIndex() const -> LinkIndex virtual: Get the numeric index of the parent Link.
auto getLinkSensorTransform() const -> Transform virtual: Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (.
auto isValid() const -> bool virtual: Return true if the sensor has been appropriately configured (all setters where setted, false otherwise.
auto clone() const -> Sensor* virtual: Return a pointer to a copy of this sensor.
auto updateIndices(const Model& model) -> bool virtual: Update all the indices (link/frames) contained in this sensor.
auto predictMeasurement(const iDynTree::SpatialAcc& linkAcc, const iDynTree::Twist& linkTwist) -> iDynTree::LinAcceleration: Following method is to be implemented after defining the interface Get wrench applied on the specified link expressed in the specified link frame.

Function documentation

bool iDynTree::AccelerometerSensor::setLinkSensorTransform(const iDynTree::Transform& link_H_sensor) virtual

Set the transform from the sensor to the parent link attached to the sensor.

Returns	true if link_index is parent link attached to the accelerometer sensor, false otherwise.

SensorType iDynTree::AccelerometerSensor::getSensorType() const virtual

Get the type of the sensor.

Returns	the type of the sensor.

LinkIndex iDynTree::AccelerometerSensor::getParentLinkIndex() const virtual

Get the numeric index of the parent Link.

Returns	the index of the parent Link of the sensor.

Transform iDynTree::AccelerometerSensor::getLinkSensorTransform() const virtual

Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (.

Returns	the link_H_sensor transform

iDynTree::LinAcceleration iDynTree::AccelerometerSensor::predictMeasurement(const iDynTree::SpatialAcc& linkAcc, const iDynTree::Twist& linkTwist)

Following method is to be implemented after defining the interface Get wrench applied on the specified link expressed in the specified link frame.

Returns	the predicted measurement as a LinAcceleration

iDynTree::AccelerometerSensor class #include <iDynTree/AccelerometerSensor.h>