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mrpt::slam::CObservationIMU Class Reference

Detailed Description

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.

See Also
CObservation

Definition at line 110 of file CObservationIMU.h.

#include <mrpt/slam/CObservationIMU.h>

Inheritance diagram for mrpt::slam::CObservationIMU:
Inheritance graph
[legend]

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...
 
CObjectclone () 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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationIMUPtr Create ()
 

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 113 of file CObservationIMU.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationIMU::CObservationIMU ( )
inline

Constructor.

Definition at line 118 of file CObservationIMU.h.

virtual mrpt::slam::CObservationIMU::~CObservationIMU ( )
inlinevirtual

Destructor.

Definition at line 126 of file CObservationIMU.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CObservationIMUPtr mrpt::slam::CObservationIMU::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CObservationIMU::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CObservationIMU::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 136 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
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.

See Also
setSensorPose
void mrpt::slam::CObservationIMU::getSensorPose ( CPose3D out_sensorPose) const
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.

See Also
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 148 of file CObservationIMU.h.

template<class METRICMAP >
bool mrpt::slam::CObservation::insertObservationInto ( METRICMAP *  theMap,
const CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See Also
CMetricMap, CMetricMap::insertObservation

Definition at line 93 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const
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.

See Also
unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 130 of file CObservation.h.

void mrpt::slam::CObservationIMU::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 113 of file CObservationIMU.h.

void mrpt::slam::CObservationIMU::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 113 of file CObservationIMU.h.

void mrpt::slam::CObservationIMU::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 113 of file CObservationIMU.h.

void mrpt::slam::CObservationIMU::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 113 of file CObservationIMU.h.

void* mrpt::slam::CObservationIMU::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 113 of file CObservationIMU.h.

static void* mrpt::slam::CObservationIMU::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 113 of file CObservationIMU.h.

void* mrpt::slam::CObservationIMU::operator new ( size_t  size)
inline

Definition at line 113 of file CObservationIMU.h.

void* mrpt::slam::CObservationIMU::operator new[] ( size_t  size)
inline

Definition at line 113 of file CObservationIMU.h.

void mrpt::slam::CObservationIMU::readFromStream ( mrpt::utils::CStream in,
int  version 
)
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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
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.

See Also
getSensorPose
void mrpt::slam::CObservationIMU::setSensorPose ( const CPose3D newSensorPose)
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.

See Also
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 155 of file CObservationIMU.h.

void mrpt::slam::CObservation::swap ( CObservation o)
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.

virtual void mrpt::slam::CObservation::unload ( )
inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See Also
load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 134 of file CObservation.h.

void mrpt::slam::CObservationIMU::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationIMU::_init_CObservationIMU
staticprotected

Definition at line 113 of file CObservationIMU.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation
staticinherited

Definition at line 55 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationIMU::classCObservationIMU
static

Definition at line 113 of file CObservationIMU.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 38 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::classinfo
static

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.

See Also
dataIsPresent, CObservation::timestamp

Definition at line 141 of file CObservationIMU.h.

std::string mrpt::slam::CObservation::sensorLabel
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.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp
inherited

The associated time-stamp.

Definition at line 67 of file CObservation.h.




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