Klamp't
0.9.0
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Simulates an accelerometer. More...
#include <InertialSensors.h>
Public Member Functions | |
virtual const char * | Type () const override |
virtual void | Simulate (SimRobotController *robot, Simulator *sim) override |
Called whenever the sensor is updated from the simulaton. | |
virtual void | SimulateKinematic (RobotModel &robot, WorldModel &world) override |
Updates the sensor for a kinematic world. Useful for non-simulation debugging. | |
virtual void | Advance (double dt) override |
Advances to the next time step with duration dt elapsed. | |
virtual void | Reset () override |
Should be overridden if the sensor is stateful to reset to an initial state. | |
virtual void | MeasurementNames (vector< string > &names) const override |
Must be overridden to produce a list of names of each measurement. | |
virtual void | GetMeasurements (vector< double > &values) const override |
Must be overridden to returns a list of all measurements. | |
virtual void | SetMeasurements (const vector< double > &values) override |
virtual void | GetInternalState (vector< double > &state) const override |
Any other state besides measurements/settings that you might want to store. Used in ReadState. | |
virtual void | SetInternalState (const vector< double > &state) override |
Any other state besides measurements/settings that you might want to store. Used in WriteState. | |
virtual map< string, string > | Settings () const override |
Returns a map of all current name-value pairs of the sensor's settings. | |
virtual bool | GetSetting (const string &name, string &str) const override |
Get a named setting. Returns false if the name is not supported. | |
virtual bool | SetSetting (const string &name, const string &str) override |
Public Member Functions inherited from Klampt::SensorBase | |
virtual bool | ReadState (File &f) |
virtual bool | WriteState (File &f) const |
virtual void | DrawGL (const RobotModel &robot, const vector< double > &measurements) |
Public Attributes | |
int | link |
RigidTransform | Tsensor |
Position of unit on link. | |
bool | hasAxis [3] |
true if accel is measured along the given axis | |
Vector3 | accelVariance |
Estimated variances of the sensor. | |
Vector3 | accel |
Measurement: acceleration value. | |
Real | last_dt |
Temporary: needed to derive accel from ODE. | |
Vector3 | last_v |
Temporary: needed to derive accel from ODE. | |
Public Attributes inherited from Klampt::SensorBase | |
string | name |
double | rate |
bool | enabled |
Simulates an accelerometer.
Configurable settings:
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overridevirtual |
Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.
Reimplemented from Klampt::SensorBase.
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overridevirtual |
Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly
Reimplemented from Klampt::SensorBase.