81 lines
2.5 KiB
C++
81 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GAZEBO_SENSORS_IMUSENSOR_PRIVATE_HH_
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#define GAZEBO_SENSORS_IMUSENSOR_PRIVATE_HH_
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#include <array>
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#include <mutex>
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#include <ignition/math/Vector3.hh>
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#include <ignition/math/Pose3.hh>
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/transport/TransportTypes.hh"
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namespace gazebo
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{
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namespace sensors
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{
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/// \internal
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/// \brief Imu sensor private data.
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class ImuSensorPrivate
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{
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/// \brief transform from world frame to Imu reference frame.
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public: ignition::math::Quaterniond worldToReference;
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/// \brief Save previous imu linear velocity in the specified frame
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/// for computing acceleration in the specified frame.
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/// \sa worldToReference
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public: ignition::math::Vector3d lastImuWorldLinearVel;
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/// \brief Noise free linear acceleration
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public: ignition::math::Vector3d linearAcc;
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/// \brief store gravity vector to be added to the imu output.
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public: ignition::math::Vector3d gravity;
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/// \brief Imu data publisher
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public: transport::PublisherPtr pub;
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/// \brief Subscriber to link data published by parent entity
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public: transport::SubscriberPtr linkDataSub;
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/// \brief Parent entity which the IMU is attached to
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public: physics::LinkPtr parentEntity;
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/// \brief Imu message
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public: msgs::IMU imuMsg;
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/// \brief Mutex to protect reads and writes.
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public: mutable std::mutex mutex;
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/// \brief Buffer for storing link data
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public: std::array<boost::shared_ptr<msgs::LinkData const>, 2>
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incomingLinkData;
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/// \brief Index for accessing element in the link data array
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public: unsigned int dataIndex;
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/// \brief True if new link data is received
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public: bool dataDirty;
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/// \brief Noise free angular velocity.
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public: ignition::math::Vector3d angularVel;
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};
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}
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}
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#endif
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