#include <IMU.h>

Inheritance diagram for mvsim::IMU:

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Collaboration diagram for mvsim::IMU:

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Public Member Functions
	IMU (Simulable &parent, const rapidxml::xml_node< char > *root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual void	simul_post_timestep (const TSimulContext &context) override

void	registerOnServer (mvsim::Client &c) override

Public Member Functions inherited from mvsim::SensorBase
	SensorBase (Simulable &vehicle)

void	registerOnServer (mvsim::Client &c) override

virtual void	simulateOn3DScene ([[maybe_unused]] mrpt::opengl::COpenGLScene &gl_scene)

double	sensor_period () const

Simulable &	vehicle ()

const Simulable &	vehicle () const

Public Member Functions inherited from mvsim::VisualObject
	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

const std::optional< Shape2p5 > &	collisionShape () const

void	showCollisionShape (bool show)

Public Member Functions inherited from mvsim::Simulable
	Simulable (World *parent)

virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

virtual VisualObject *	meAsVisualObject ()

mrpt::math::TTwist2D	getRefVelocityLocal () const

mrpt::math::TTwist2D	getVelocityLocal () const

mrpt::math::TTwist2D	getRefVelocityGlobal () const

mrpt::math::TTwist2D	getComVelocityGlobal () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only.

mrpt::math::TVector3D	getLinearAcceleration () const

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

void	setRefVelocityLocal (const mrpt::math::TTwist2D &dq)

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose()

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose()

const std::string &	getName () const

void	setName (const std::string &s)

bool	isInCollision () const

bool	hadCollision () const

void	resetCollisionFlag ()

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

virtual void	freeOpenGLResources ()

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

Protected Member Functions
void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, [[maybe_unused]] const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, [[maybe_unused]] bool childrenOnly) override

void	notifySimulableSetPose (const mrpt::math::TPose3D &newPose) override

mrpt::math::TPose3D	getRelativePose () const override

void	setRelativePose (const mrpt::math::TPose3D &p) override

void	internal_simulate_imu (const TSimulContext &context)

Protected Member Functions inherited from mvsim::SensorBase
bool	should_simulate_sensor (const TSimulContext &context)

World *	world ()

const World *	world () const

bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)

void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)

void	reportNewObservation_lidar_2d (const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &obs, const TSimulContext &context)

void	make_sure_we_have_a_name (const std::string &prefix)
	Assign a sensible default name/sensor label if none is provided:

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry.

bool	parseVisual (const JointXMLnode<> &rootNode)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
double	orientationStdNoise_ = 0.005
	[rad]

ImuNoiseModel	noiseModel_

bool	measure_orientation_ = false
	If true, the IMU will also measure orientation.

mrpt::obs::CObservationIMU	obs_model_

std::mutex	last_obs_cs_

mrpt::obs::CObservationIMU::Ptr	last_obs_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

mrpt::random::CRandomGenerator	rng_

Protected Attributes inherited from mvsim::SensorBase
Simulable &	vehicle_
	The vehicle this sensor is attached to.

double	sensor_period_ = 0.1

double	sensor_last_timestamp_ = 0

std::string	publishTopic_

std::map< std::string, std::string >	varValues_
	Filled in by SensorBase::loadConfigFrom()

Protected Attributes inherited from mvsim::VisualObject
World *	world_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::SensorBase
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase::Ptr	factory (Simulable &parent, const rapidxml::xml_node< char > *xml_node)

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsOriginViz ()

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsFOVViz ()

static void	RegisterSensorFOVViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

static void	RegisterSensorOriginViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Detailed Description

An Inertial Measurement Unit (IMU) sensor.

Supports the continuous-time IMU noise model from Forster et al. (2016) with per-channel white noise and bias random walk. See ImuNoiseModel for full details.

Member Function Documentation

◆ getRelativePose()

mrpt::math::TPose3D mvsim::IMU::getRelativePose ( ) const

inlineoverrideprotectedvirtual

Like getPose(), but gets the relative pose with respect to the parent object, or just exactly like getPose() (global pose) if this is a top-level entity.

Reimplemented from mvsim::Simulable.

◆ loadConfigFrom()

virtual void mvsim::IMU::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Loads the parameters common to all sensors. Should be overriden, and they call to this base method.

Reimplemented from mvsim::SensorBase.

◆ setRelativePose()

void mvsim::IMU::setRelativePose ( const mrpt::math::TPose3D & p )

inlineoverrideprotectedvirtual

Changes the relative pose of this object with respect to its parent, or the global frame if its a top-level entity.

Reimplemented from mvsim::Simulable.

◆ simul_post_timestep()

virtual void mvsim::IMU::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

◆ simul_pre_timestep()

virtual void mvsim::IMU::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Member Data Documentation

◆ last_obs_

mrpt::obs::CObservationIMU::Ptr mvsim::IMU::last_obs_

protected

Last simulated obs

◆ noiseModel_

ImuNoiseModel mvsim::IMU::noiseModel_

protected

Stochastic IMU noise model (white noise + bias random walk).

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/Sensors/IMU.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getRelativePose()

◆ loadConfigFrom()

◆ setRelativePose()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ last_obs_

◆ noiseModel_