Stores IMU data. More...
#include <sensor.h>
Public Member Functions | |
virtual SensorType | GetType () |
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virtual | ~SensorData () |
virtual bool | serialize (std::ostream &O) const |
Serialize the sensor data to stream in XML format. | |
Public Attributes | |
Vector | rotation |
quaternion | |
Vector | angular_velocity |
Vector | linear_acceleration |
boost::array< dReal, 9 > | rotation_covariance |
Row major about x, y, z axes. | |
boost::array< dReal, 9 > | angular_velocity_covariance |
Row major about x, y, z axes. | |
boost::array< dReal, 9 > | linear_acceleration_covariance |
Row major x, y z axes. | |
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uint64_t | __stamp |
time stamp of the sensor data in microseconds. If 0, then the data is uninitialized! (floating-point precision is bad here). This can be either simulation or real time depending on the sensor. | |
Transform | __trans |
the coordinate system the sensor was when the measurement was taken, this is taken directly from SensorBase::GetTransform | |
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inlinevirtual |
Implements OpenRAVE::SensorBase::SensorData.
Vector OpenRAVE::SensorBase::IMUSensorData::angular_velocity |
boost::array<dReal,9> OpenRAVE::SensorBase::IMUSensorData::angular_velocity_covariance |
Vector OpenRAVE::SensorBase::IMUSensorData::linear_acceleration |
boost::array<dReal,9> OpenRAVE::SensorBase::IMUSensorData::linear_acceleration_covariance |
Vector OpenRAVE::SensorBase::IMUSensorData::rotation |
boost::array<dReal,9> OpenRAVE::SensorBase::IMUSensorData::rotation_covariance |