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

        // 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 CObservationIMU : public CObservation
{
        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 override
        {
                out_sensorPose = sensorPose;
        }
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
        {
                sensorPose = newSensorPose;
        }
        void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

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

#endif