Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::Accelerometer Class Reference

Simulates an accelerometer. More...

#include <InertialSensors.h>

Inheritance diagram for Klampt::Accelerometer:

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

Detailed Description

Simulates an accelerometer.

Configurable settings:

Member Function Documentation

virtual void Klampt::Accelerometer::SetMeasurements ( const vector< double > &  values)

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.

virtual bool Klampt::Accelerometer::SetSetting ( const string &  name,
const string &  str 

Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly

Reimplemented from Klampt::SensorBase.

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