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

Class representing a three axis angular accelerometer, i.e.

a sensor that measures the 3D angular acceleration of the sensor frame.

Base classes

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

Constructors, destructors, conversion operators

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

Public functions

auto operator=(const ThreeAxisAngularAccelerometerSensor& other) -> ThreeAxisAngularAccelerometerSensor&
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) -> Vector3
Simulate the measurement of the Three Axis angular accelerometer.

Function documentation

bool iDynTree::ThreeAxisAngularAccelerometerSensor::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::ThreeAxisAngularAccelerometerSensor::getSensorType() const virtual

Get the type of the sensor.

Returns the type of the sensor.

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

Get the numeric index of the parent Link.

Returns the index of the parent Link of the sensor.

Transform iDynTree::ThreeAxisAngularAccelerometerSensor::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
\[ {}^l H_s \]

).

Vector3 iDynTree::ThreeAxisAngularAccelerometerSensor::predictMeasurement(const iDynTree::SpatialAcc& linkAcc)

Simulate the measurement of the Three Axis angular accelerometer.

Parameters
linkAcc in the left trivialized acceleration of the link frame w.r.t. to an inertial frame
Returns the predicted measurement as a AngAcceleration