An inertial measurement unit. May provide all or some of a rigid body's state. More...
#include <InertialSensors.h>
Inheritance diagram for Klampt::IMUSensor:
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 (Real dt) override |
| 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 void | Advance (double dt) |
| Advances to the next time step with duration dt elapsed. | |
| virtual bool | ReadState (File &f) |
| virtual bool | WriteState (File &f) const |
| virtual void | DrawGL (const RobotModel &robot, const vector< double > &measurements) |
Public Attributes | |
| Accelerometer | accelerometer |
| GyroSensor | gyro |
| Vector3 | accel |
| Vector3 | velocity |
| Vector3 | translation |
| Vector3 | angAccel |
| Vector3 | angVel |
| Matrix3 | rotation |
| Public Attributes inherited from Klampt::SensorBase | |
| string | name |
| double | rate |
| bool | enabled |
Detailed Description
An inertial measurement unit. May provide all or some of a rigid body's state.
Configurable settings: see Accelerometer and GyroSensor
Member Function Documentation
|
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.
|
overridevirtual |
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:
