simple_sensor_simulator::ImuSensorBase Class Reference

#include <imu_sensor.hpp>

Inheritance diagram for simple_sensor_simulator::ImuSensorBase:

Public Member Functions
	ImuSensorBase (const simulation_api_schema::ImuSensorConfiguration &configuration)
virtual	~ImuSensorBase ()=default
virtual auto	update (const rclcpp::Time &current_ros_time, const std::vector< traffic_simulator_msgs::EntityStatus > &statuses) -> bool=0

Protected Member Functions
auto	calculateCovariance (const double stddev) const -> std::array< double, 9 >

Protected Attributes
const bool	add_gravity_
const double	noise_standard_deviation_orientation_
const double	noise_standard_deviation_twist_
const double	noise_standard_deviation_acceleration_
std::mt19937	random_generator_
std::normal_distribution	noise_distribution_orientation_
std::normal_distribution	noise_distribution_twist_
std::normal_distribution	noise_distribution_acceleration_
std::array< double, 9 >	orientation_covariance_
std::array< double, 9 >	angular_velocity_covariance_
std::array< double, 9 >	linear_acceleration_covariance_

Constructor & Destructor Documentation

ImuSensorBase()

simple_sensor_simulator::ImuSensorBase::ImuSensorBase ( const simulation_api_schema::ImuSensorConfiguration &  configuration )

inlineexplicit

~ImuSensorBase()

virtual simple_sensor_simulator::ImuSensorBase::~ImuSensorBase ( )

virtualdefault

Member Function Documentation

calculateCovariance()

auto simple_sensor_simulator::ImuSensorBase::calculateCovariance ( const double  stddev ) const -> std::array<double, 9>

inlineprotected

update()

virtual auto simple_sensor_simulator::ImuSensorBase::update ( const rclcpp::Time &  current_ros_time, const std::vector< traffic_simulator_msgs::EntityStatus > &  statuses  ) -> bool

pure virtual

Implemented in simple_sensor_simulator::ImuSensor< MessageType >.

Member Data Documentation

add_gravity_

const bool simple_sensor_simulator::ImuSensorBase::add_gravity_

protected

angular_velocity_covariance_

std::array<double, 9> simple_sensor_simulator::ImuSensorBase::angular_velocity_covariance_

protected

linear_acceleration_covariance_

std::array<double, 9> simple_sensor_simulator::ImuSensorBase::linear_acceleration_covariance_

protected

noise_distribution_acceleration_

std::normal_distribution simple_sensor_simulator::ImuSensorBase::noise_distribution_acceleration_

mutableprotected

noise_distribution_orientation_

std::normal_distribution simple_sensor_simulator::ImuSensorBase::noise_distribution_orientation_

mutableprotected

noise_distribution_twist_

std::normal_distribution simple_sensor_simulator::ImuSensorBase::noise_distribution_twist_

mutableprotected

noise_standard_deviation_acceleration_

const double simple_sensor_simulator::ImuSensorBase::noise_standard_deviation_acceleration_

protected

noise_standard_deviation_orientation_

const double simple_sensor_simulator::ImuSensorBase::noise_standard_deviation_orientation_

protected

noise_standard_deviation_twist_

const double simple_sensor_simulator::ImuSensorBase::noise_standard_deviation_twist_

protected

orientation_covariance_

std::array<double, 9> simple_sensor_simulator::ImuSensorBase::orientation_covariance_

protected

random_generator_

std::mt19937 simple_sensor_simulator::ImuSensorBase::random_generator_

mutableprotected

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

• simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp