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CObservationIMU.h
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CObservationIMU_H
29 #define CObservationIMU_H
30 
31 #include <mrpt/utils/CSerializable.h>
32 #include <mrpt/math/CMatrixD.h>
33 #include <mrpt/slam/CObservation.h>
34 #include <mrpt/poses/CPose3D.h>
35 #include <mrpt/poses/CPose2D.h>
36 
37 namespace mrpt
38 {
39 namespace slam
40 {
41 
42  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationIMU , CObservation,OBS_IMPEXP )
43 
44  /** Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)
45  * \ingroup mrpt_obs_grp
46  */
47  enum TIMUDataIndex
48  {
49  IMU_X_ACC = 0,
50  IMU_Y_ACC,
51  IMU_Z_ACC,
52  IMU_YAW_VEL,
53  IMU_PITCH_VEL,
54  IMU_ROLL_VEL,
55  IMU_X_VEL,
56  IMU_Y_VEL,
57  IMU_Z_VEL,
58  IMU_YAW,
59  IMU_PITCH,
60  IMU_ROLL,
61  IMU_X,
62  IMU_Y,
63  IMU_Z,
64 
65  // Always leave this last value to reflect the number of enum values:
66  COUNT_IMU_DATA_FIELDS
67  };
68 
69  /** This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements).
70  *
71  * The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the TIMUDataIndex "enum" symbolic names):
72  <table>
73  <tr> <td> 0 </td> <td>IMU_X_ACC</td> <td> x-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
74  <tr> <td> 1 </td> <td>IMU_Y_ACC</td> <td> y-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
75  <tr> <td> 2 </td> <td>IMU_Z_ACC</td> <td> z-axis acceleration (m/sec<sup>2</sup>)</td> </tr>
76  <tr> <td> 3 </td> <td>IMU_YAW_VEL</td> <td> yaw angular velocity (rad/sec)</td> </tr>
77  <tr> <td> 4 </td> <td>IMU_PITCH_VEL</td> <td> pitch angular velocity (rad/sec)</td> </tr>
78  <tr> <td> 5 </td> <td>IMU_ROLL_VEL</td> <td> roll angular velocity (rad/sec)</td> </tr>
79  <tr> <td> 6 </td> <td>IMU_X_VEL</td> <td> x-axis velocity (m/sec)</td> </tr>
80  <tr> <td> 7 </td> <td>IMU_Y_VEL</td> <td> y-axis velocity (m/sec)</td> </tr>
81  <tr> <td> 8 </td> <td>IMU_Z_VEL</td> <td> z-axis velocity (m/sec)</td> </tr>
82  <tr> <td> 9 </td> <td>IMU_YAW</td> <td> yaw absolute value (rad)</td> </tr>
83  <tr> <td> 10 </td> <td>IMU_PITCH</td> <td> pitch absolute value (rad)</td> </tr>
84  <tr> <td> 11 </td> <td>IMU_ROLL</td> <td> roll absolute value (rad)</td> </tr>
85  <tr> <td> 12 </td> <td>IMU_X</td> <td> x absolute value (meters)</td> </tr>
86  <tr> <td> 13 </td> <td>IMU_Y</td> <td> y absolute value (meters)</td> </tr>
87  <tr> <td> 14 </td> <td>IMU_Z</td> <td> z absolute value (meters)</td> </tr>
88  </table>
89  *
90  * The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.
91  *
92  * \sa CObservation
93  * \ingroup mrpt_obs_grp
94  */
95  class OBS_IMPEXP CObservationIMU : public CObservation
96  {
97  // This must be added to any CSerializable derived class:
98  DEFINE_SERIALIZABLE( CObservationIMU )
99 
100  public:
101  /** Constructor.
102  */
103  CObservationIMU( ) :
104  sensorPose(),
105  dataIsPresent(15,false),
106  rawMeasurements(15,0)
107  { }
108 
109  /** Destructor
110  */
111  virtual ~CObservationIMU()
112  { }
113 
114  /** The pose of the sensor on the robot.
115  */
116  CPose3D sensorPose;
117 
118  /** Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
119  * See the top of this page for the meaning of the indices.
120  */
121  vector_bool dataIsPresent;
122 
123  /** The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
124  * \sa dataIsPresent, CObservation::timestamp
125  */
126  std::vector<double> rawMeasurements;
127 
128 
129  /** A general method to retrieve the sensor pose on the robot.
130  * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
131  * \sa setSensorPose
132  */
133  void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorPose; }
134 
135 
136  /** A general method to change the sensor pose on the robot.
137  * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
138  * \sa getSensorPose
139  */
140  void setSensorPose( const CPose3D &newSensorPose ) { sensorPose = newSensorPose; }
141 
142 
143  }; // End of class def.
144 
145 
146  } // End of namespace
147 } // End of namespace
148 
149 #endif


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