#include <mrpt/slam/CObservationIMU.h>
Public Member Functions | |
CObservationIMU () | |
Constructor. | |
virtual | ~CObservationIMU () |
Destructor. | |
float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
void | getSensorPose (CPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const CPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
Public Attributes | |
CPose3D | sensorPose |
The pose of the sensor on the robot. | |
vector_bool | dataIsPresent |
Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data). | |
std::vector< double > | rawMeasurements |
The sequence of accelerometers/gyroscopes measurements in time. |
The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the "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) |
The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.
Definition at line 90 of file CObservationIMU.h.
mrpt::slam::CObservationIMU::CObservationIMU | ( | ) | [inline] |
virtual mrpt::slam::CObservationIMU::~CObservationIMU | ( | ) | [inline, virtual] |
void mrpt::slam::CObservationIMU::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [inline, virtual] |
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 143 of file CObservationIMU.h.
float mrpt::slam::CObservationIMU::likelihoodWith | ( | const CObservation * | anotherObs, | |
const CPosePDF * | anotherObsPose = NULL | |||
) | const [virtual] |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
The operator may be asymmetric.
anotherObs | The other observation to compute likelihood with. | |
anotherObsPose | If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown. |
std::exception | On any error, as another observation being of an invalid class. |
Implements mrpt::slam::CObservation.
void mrpt::slam::CObservationIMU::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [inline, virtual] |
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 150 of file CObservationIMU.h.
Each of the 15 entries of 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 116 of file CObservationIMU.h.
std::vector<double> mrpt::slam::CObservationIMU::rawMeasurements |
The sequence of accelerometers/gyroscopes measurements in time.
Each entry of rawMeasurements is a sequence of 15 values for each instant of time, and the time between entries is fixed, starting in the CObservation::timestamp, and with a sampling period of periodBetweenMeasurements. See the top of this page for further details on the contents of the vector.
Definition at line 124 of file CObservationIMU.h.
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