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):
| 0 | IMU_X_ACC | x-axis acceleration (m/sec2) |
| 1 | IMU_Y_ACC | y-axis acceleration (m/sec2) |
| 2 | IMU_Z_ACC | z-axis acceleration (m/sec2) |
| 3 | IMU_YAW_VEL | yaw angular velocity (rad/sec) |
| 4 | IMU_PITCH_VEL | pitch angular velocity (rad/sec) |
| 5 | IMU_ROLL_VEL | roll angular velocity (rad/sec) |
| 6 | IMU_X_VEL | x-axis velocity (m/sec) |
| 7 | IMU_Y_VEL | y-axis velocity (m/sec) |
| 8 | IMU_Z_VEL | z-axis velocity (m/sec) |
| 9 | IMU_YAW | yaw absolute value (rad) |
| 10 | IMU_PITCH | pitch absolute value (rad) |
| 11 | IMU_ROLL | roll absolute value (rad) |
| 12 | IMU_X | x absolute value (meters) |
| 13 | IMU_Y | y absolute value (meters) |
| 14 | IMU_Z | z absolute value (meters) |
| 15 | IMU_MAG_X | x magnetic field value (gauss) |
| 16 | IMU_MAG_X | x magnetic field value (gauss) |
| 17 | IMU_MAG_X | x magnetic field value (gauss) |
| 18 | IMU_PRESSURE | air pressure (Pascals) |
| 19 | IMU_ALTITUDE | altitude from an altimeter (meters) |
| 20 | IMU_TEMPERATURE | temperature (degrees Celsius) |
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.
Definition at line 110 of file CObservationIMU.h.
#include <mrpt/slam/CObservationIMU.h>
Public Member Functions | |
| void * | operator new (size_t size) |
| void * | operator new[] (size_t size) |
| void | operator delete (void *ptr) throw () |
| void | operator delete[] (void *ptr) throw () |
| void | operator delete (void *memory, void *ptr) throw () |
| void * | operator new (size_t size, const std::nothrow_t &) throw () |
| void | operator delete (void *ptr, const std::nothrow_t &) throw () |
| CObservationIMU () | |
| Constructor. More... | |
| virtual | ~CObservationIMU () |
| Destructor. More... | |
| void | getSensorPose (CPose3D &out_sensorPose) const |
| A general method to retrieve the sensor pose on the robot. More... | |
| void | setSensorPose (const CPose3D &newSensorPose) |
| A general method to change the sensor pose on the robot. More... | |
| template<class METRICMAP > | |
| bool | insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const |
| This method is equivalent to: More... | |
| void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
| A general method to retrieve the sensor pose on the robot. More... | |
| void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
| A general method to change the sensor pose on the robot. More... | |
| mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
| Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
| CObject * | clone () const |
| Cloning interface for smart pointers. More... | |
Delayed-load manual control methods. | |
| virtual void | load () const |
| Makes sure all images and other fields which may be externally stored are loaded in memory. More... | |
| virtual void | unload () |
| Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More... | |
Static Public Member Functions | |
| static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
| CPose3D | sensorPose |
| The pose of the sensor on the robot. More... | |
| vector_bool | dataIsPresent |
| Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data). More... | |
| std::vector< double > | rawMeasurements |
| The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp. More... | |
Data common to any observation | |
| mrpt::system::TTimeStamp | timestamp |
| The associated time-stamp. More... | |
| std::string | sensorLabel |
| An arbitrary label that can be used to identify the sensor. More... | |
Static Public Attributes | |
| static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCObservation |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
| void | swap (CObservation &o) |
| Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More... | |
CSerializable virtual methods | |
| void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
| Introduces a pure virtual method responsible for writing to a CStream. More... | |
| void | readFromStream (mrpt::utils::CStream &in, int version) |
| Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
RTTI stuff | |
| typedef CObservationIMUPtr | SmartPtr |
| static mrpt::utils::CLASSINIT | _init_CObservationIMU |
| static mrpt::utils::TRuntimeClassId | classCObservationIMU |
| static const mrpt::utils::TRuntimeClassId * | classinfo |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. More... | |
| virtual mrpt::utils::CObject * | duplicate () const |
| Returns a copy of the object, indepently of its class. More... | |
| static mrpt::utils::CObject * | CreateObject () |
| static CObservationIMUPtr | Create () |
| typedef CObservationIMUPtr mrpt::slam::CObservationIMU::SmartPtr |
A typedef for the associated smart pointer
Definition at line 113 of file CObservationIMU.h.
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inline |
Constructor.
Definition at line 118 of file CObservationIMU.h.
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inlinevirtual |
Destructor.
Definition at line 126 of file CObservationIMU.h.
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staticprotected |
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inlineinherited |
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static |
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static |
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
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inherited |
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.
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inlinevirtual |
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.
Implements mrpt::slam::CObservation.
Definition at line 148 of file CObservationIMU.h.
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inlineinherited |
This method is equivalent to:
| theMap | The map where this observation is to be inserted: the map will be updated. |
| robotPose | The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg) |
Definition at line 93 of file CObservation.h.
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inlinevirtualinherited |
Makes sure all images and other fields which may be externally stored are loaded in memory.
Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.
Reimplemented in mrpt::slam::CObservation3DRangeScan.
Definition at line 130 of file CObservation.h.
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Definition at line 113 of file CObservationIMU.h.
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Definition at line 113 of file CObservationIMU.h.
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Definition at line 113 of file CObservationIMU.h.
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Definition at line 113 of file CObservationIMU.h.
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Definition at line 113 of file CObservationIMU.h.
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inlinestatic |
Definition at line 113 of file CObservationIMU.h.
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inline |
Definition at line 113 of file CObservationIMU.h.
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inline |
Definition at line 113 of file CObservationIMU.h.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
| in | The input binary stream where the object data must read from. |
| version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
| std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inherited |
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.
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inlinevirtual |
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.
Implements mrpt::slam::CObservation.
Definition at line 155 of file CObservationIMU.h.
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protectedinherited |
Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::slam::CObservation3DRangeScan.
Definition at line 134 of file CObservation.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
| out | The output binary stream where object must be dumped. |
| getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
| std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 113 of file CObservationIMU.h.
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staticinherited |
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staticinherited |
Definition at line 55 of file CObservation.h.
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Definition at line 113 of file CObservationIMU.h.
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staticinherited |
Definition at line 38 of file CSerializable.h.
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Definition at line 113 of file CObservationIMU.h.
| vector_bool mrpt::slam::CObservationIMU::dataIsPresent |
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.
Definition at line 136 of file CObservationIMU.h.
| std::vector<double> mrpt::slam::CObservationIMU::rawMeasurements |
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
Definition at line 141 of file CObservationIMU.h.
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 71 of file CObservation.h.
| CPose3D mrpt::slam::CObservationIMU::sensorPose |
The pose of the sensor on the robot.
Definition at line 131 of file CObservationIMU.h.
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inherited |
The associated time-stamp.
Definition at line 67 of file CObservation.h.
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