CObservationIMU.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationIMU_H
#define CObservationIMU_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixD.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace slam
{

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationIMU , CObservation,OBS_IMPEXP )

        /** Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)
         * \ingroup mrpt_obs_grp
          */
        enum TIMUDataIndex
        {
                /// x-axis acceleration (m/sec<sup>2</sup>)
                IMU_X_ACC = 0 ,
                /// y-axis acceleration (m/sec<sup>2</sup>)
                IMU_Y_ACC,
                /// z-axis acceleration (m/sec<sup>2</sup>)
                IMU_Z_ACC,
                /// yaw angular velocity (rad/sec)
                IMU_YAW_VEL,
                /// pitch angular velocity (rad/sec)
                IMU_PITCH_VEL,
                /// roll angular velocity (rad/sec)
                IMU_ROLL_VEL,
                /// x-axis velocity (m/sec)
                IMU_X_VEL,
                /// y-axis velocity (m/sec)
                IMU_Y_VEL,
                /// z-axis velocity (m/sec)
                IMU_Z_VEL,
                /// yaw absolute value (rad)
                IMU_YAW,
                /// pitch absolute value (rad)
                IMU_PITCH,
                /// roll absolute value (rad)
                IMU_ROLL,
                /// x absolute value (meters)
                IMU_X,
                /// y absolute value (meters)
                IMU_Y,
                /// z absolute value (meters)
                IMU_Z, 
                /// x magnetic field value (gauss)
                IMU_MAG_X,
                /// y magnetic field value (gauss)
                IMU_MAG_Y,
                /// z magnetic field value (gauss)
                IMU_MAG_Z,
                /// air pressure (Pascals)
                IMU_PRESSURE,
                /// altitude from an altimeter (meters)
                IMU_ALTITUDE,
                /// temperature (degrees Celsius)
                IMU_TEMPERATURE,

                // Always leave this last value to reflect the number of enum values:
                COUNT_IMU_DATA_FIELDS
        };

        /** This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
         *
         *  The order of the 21 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the TIMUDataIndex "enum" symbolic names):
                <table>
                <tr> <td> 0 </td> <td>IMU_X_ACC</td> <td> x-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
                <tr> <td> 1 </td> <td>IMU_Y_ACC</td> <td> y-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
                <tr> <td> 2 </td> <td>IMU_Z_ACC</td> <td> z-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
                <tr> <td> 3 </td> <td>IMU_YAW_VEL</td> <td> yaw angular velocity (rad/sec)</td> </tr>
                <tr> <td> 4 </td> <td>IMU_PITCH_VEL</td> <td> pitch angular velocity (rad/sec)</td> </tr>
                <tr> <td> 5 </td> <td>IMU_ROLL_VEL</td> <td> roll angular velocity (rad/sec)</td> </tr>
                <tr> <td> 6 </td> <td>IMU_X_VEL</td> <td> x-axis velocity (m/sec)</td> </tr>
                <tr> <td> 7 </td> <td>IMU_Y_VEL</td> <td> y-axis velocity (m/sec)</td> </tr>
                <tr> <td> 8 </td> <td>IMU_Z_VEL</td> <td> z-axis velocity (m/sec)</td> </tr>
                <tr> <td> 9 </td> <td>IMU_YAW</td> <td> yaw absolute value (rad)</td> </tr>
                <tr> <td> 10 </td> <td>IMU_PITCH</td> <td> pitch absolute value (rad)</td> </tr>
                <tr> <td> 11 </td> <td>IMU_ROLL</td> <td> roll absolute value (rad)</td> </tr>
                <tr> <td> 12 </td> <td>IMU_X</td> <td> x absolute value (meters)</td> </tr>
                <tr> <td> 13 </td> <td>IMU_Y</td> <td> y absolute value (meters)</td> </tr>
                <tr> <td> 14 </td> <td>IMU_Z</td> <td> z absolute value (meters)</td> </tr>
                <tr> <td> 15 </td> <td>IMU_MAG_X</td> <td> x magnetic field value (gauss)</td> </tr>
                <tr> <td> 16 </td> <td>IMU_MAG_X</td> <td> x magnetic field value (gauss)</td> </tr>
                <tr> <td> 17 </td> <td>IMU_MAG_X</td> <td> x magnetic field value (gauss)</td> </tr>
                <tr> <td> 18 </td> <td>IMU_PRESSURE</td> <td> air pressure (Pascals)</td> </tr>
                <tr> <td> 19 </td> <td>IMU_ALTITUDE</td> <td>altitude from an altimeter (meters)</td> </tr>
                <tr> <td> 20 </td> <td>IMU_TEMPERATURE</td> <td> temperature (degrees Celsius)</td> </tr>
                </table>
         *
         *  Values from 0 to 5 are direct measurements measured by accelerometers & gyroscopes. 
         *  Values at indices from 6 to 14, if present, are estimates (dead reckoning) from the IMU unit.
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationIMU : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationIMU )

         public:
                /** Constructor.
                 */
                CObservationIMU(  ) :
                        sensorPose(),
                        dataIsPresent(21,false),
                        rawMeasurements(21,0)
                { }

                /** Destructor
                  */
                virtual ~CObservationIMU()
                { }

                /** The pose of the sensor on the robot.
                  */
                CPose3D  sensorPose;

                /** Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
                  *  See the top of this page for the meaning of the indices.
                  */
                vector_bool dataIsPresent;

                /** The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
                  * \sa dataIsPresent, CObservation::timestamp
                  */
                std::vector<double>  rawMeasurements;


                /** A general method to retrieve the sensor pose on the robot.
                  *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorPose; }


                /** A general method to change the sensor pose on the robot.
                  *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose ) { sensorPose = newSensorPose; }


        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationIMU , CObservation,OBS_IMPEXP )


        } // End of namespace
} // End of namespace

#endif