obs/CObservationIMU.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace obs
{

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationIMU , CObservation,OBS_IMPEXP )

        /** Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)
         * \ingroup mrpt_obs_grp
          */
        enum TIMUDataIndex
        {
                IMU_X_ACC = 0 ,     //!< x-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
                IMU_Y_ACC,          //!< y-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
                IMU_Z_ACC,          //!< z-axis acceleration (local/vehicle frame) (m/sec<sup>2</sup>)
                IMU_YAW_VEL,        //!< yaw angular velocity (local/vehicle frame) (rad/sec)
                IMU_PITCH_VEL,      //!< pitch angular velocity (local/vehicle frame) (rad/sec)
                IMU_ROLL_VEL,       //!< roll angular velocity (local/vehicle frame) (rad/sec)
                IMU_X_VEL,          //!< x-axis velocity (global/navigation frame) (m/sec)
                IMU_Y_VEL,          //!< y-axis velocity (global/navigation  frame) (m/sec)
                IMU_Z_VEL,          //!< z-axis velocity (global/navigation  frame) (m/sec)
                IMU_YAW,            //!< orientation yaw absolute value (global/navigation frame) (rad)
                IMU_PITCH,          //!< orientation pitch absolute value (global/navigation frame) (rad)
                IMU_ROLL,           //!< orientation roll absolute value (global/navigation frame) (rad)
                IMU_X,              //!< x absolute value (global/navigation frame) (meters)
                IMU_Y,              //!< y absolute value (global/navigation frame) (meters)
                IMU_Z,              //!< z absolute value (global/navigation frame) (meters)
                IMU_MAG_X,          //!< x magnetic field value (local/vehicle frame) (gauss)
                IMU_MAG_Y,          //!< y magnetic field value (local/vehicle frame) (gauss)
                IMU_MAG_Z,          //!< z magnetic field value (local/vehicle frame) (gauss)
                IMU_PRESSURE,       //!< air pressure (Pascals)
                IMU_ALTITUDE,       //!< altitude from an altimeter (meters)
                IMU_TEMPERATURE,    //!< temperature (degrees Celsius)
                IMU_ORI_QUAT_X,     //!< Orientation Quaternion X (global/navigation frame)
                IMU_ORI_QUAT_Y,     //!< Orientation Quaternion Y (global/navigation frame)
                IMU_ORI_QUAT_Z,     //!< Orientation Quaternion Z (global/navigation frame)
                IMU_ORI_QUAT_W,     //!< Orientation Quaternion W (global/navigation frame)
                IMU_YAW_VEL_GLOBAL, //!< yaw angular velocity (global/navigation frame) (rad/sec)
                IMU_PITCH_VEL_GLOBAL,//!< pitch angular velocity (global/navigation frame) (rad/sec)
                IMU_ROLL_VEL_GLOBAL, //!< roll angular velocity (global/navigation frame) (rad/sec)
                IMU_X_ACC_GLOBAL,   //!< x-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)
                IMU_Y_ACC_GLOBAL,   //!< y-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)
                IMU_Z_ACC_GLOBAL,   //!< z-axis acceleration (global/navigation frame) (m/sec<sup>2</sup>)

                // 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 values in each entry of mrpt::obs::CObservationIMU::rawMeasurements is defined as symbolic names in the enum mrpt::obs::TIMUDataIndex. 
         *  Check it out also for reference on the unit and the coordinate frame used for each value.
         *
         * \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(mrpt::obs::COUNT_IMU_DATA_FIELDS,false),
                        rawMeasurements(mrpt::obs::COUNT_IMU_DATA_FIELDS,0)
                { }

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

                /** The pose of the sensor on the robot. */
                mrpt::poses::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;


                // See base class docs
                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;


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


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

#endif