class mrpt::obs::CObservationIMU

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.

See also:

CObservation

#include <mrpt/obs/CObservationIMU.h>

class CObservationIMU: public mrpt::obs::CObservation
{
public:
    //
fields

    mrpt::poses::CPose3D sensorPose;
    std::vector<bool> dataIsPresent =         std::vector<bool>(mrpt::obs::COUNT_IMU_DATA_FIELDS, false);
    std::vector<double> rawMeasurements =         std::vector<double>(mrpt::obs::COUNT_IMU_DATA_FIELDS, 0);

    //
methods

    void set(TIMUDataIndex idx, double value);
    double get(TIMUDataIndex idx) const;
    bool has(TIMUDataIndex idx) const;
    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot.

std::vector<bool> dataIsPresent =       std::vector<bool>(mrpt::obs::COUNT_IMU_DATA_FIELDS, false)

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.

std::vector<double> rawMeasurements =       std::vector<double>(mrpt::obs::COUNT_IMU_DATA_FIELDS, 0)

The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

See also:

dataIsPresent, CObservation::timestamp

Methods

void set(TIMUDataIndex idx, double value)

Sets a given data type, and mark it as present.

See also:

has(), set()

double get(TIMUDataIndex idx) const

Gets a given data type, throws if not set.

See also:

has(), get()

bool has(TIMUDataIndex idx) const

Returns true if the given data type is set.

See also:

set(), get()

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

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

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

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

virtual void getDescriptionAsText(std::ostream& o) const

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset