class mrpt::obs::CObservationIMU

Overview

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::array<bool, mrpt::obs::COUNT_IMU_DATA_FIELDS> dataIsPresent;
    std::array<double, mrpt::obs::COUNT_IMU_DATA_FIELDS> rawMeasurements;

    // construction

    CObservationIMU();

    // 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;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() 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;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D 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;
    virtual std::string asString() const;

Fields

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot.

std::array<bool, mrpt::obs::COUNT_IMU_DATA_FIELDS> 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. Initial value: all set to false.

std::array<double, mrpt::obs::COUNT_IMU_DATA_FIELDS> rawMeasurements

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

See also:

dataIsPresent, CObservation::timestamp Initial value: all zeros.

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

virtual bool exportTxtSupported() const

Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.

virtual std::string exportTxtHeader() const

Returns the description of the data columns.

Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.

virtual std::string exportTxtDataRow() const

Returns one row of data with the data stored in this particular object.

Do not include newlines.