chrono::sensor::ChIMUSensor Class Reference

Description

IMU class.

Includes an accelerometer and gyroscope. The data is collected from the physical quantities computed for the parent object accounting for the offset pose. This sensor operates in lock-step with the Chrono simulation.

#include <ChIMUSensor.h>

Inheritance diagram for chrono::sensor::ChIMUSensor:
Collaboration diagram for chrono::sensor::ChIMUSensor:

Public Member Functions

 ChIMUSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, std::shared_ptr< ChIMUNoiseModel > noise_model)
 Class constructor for an IMU sensor. More...
 
 ~ChIMUSensor ()
 Class destructor.
 
- Public Member Functions inherited from chrono::sensor::ChSensor
 ChSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose)
 Constructor for the base sensor class. More...
 
virtual ~ChSensor ()
 Class destructor.
 
void SetOffsetPose (chrono::ChFrame< double > pose)
 Set the sensor's relative position and orientation. More...
 
ChFrame< double > GetOffsetPose ()
 Get the sensor's relative position and orientation. More...
 
std::shared_ptr< ChBodyGetParent () const
 Get the object to which the sensor is attached. More...
 
void SetName (std::string name)
 Set the sensor's name. More...
 
std::string GetName () const
 Get the name of the sensor. More...
 
float GetUpdateRate () const
 Get the sensor update rate (Hz) More...
 
void SetLag (float t)
 Set the lag parameter. More...
 
float GetLag () const
 Get the sensor lag (seconds) More...
 
void SetCollectionWindow (float t)
 Set the collection window. More...
 
float GetCollectionWindow () const
 Get the sensor data collection window (seconds) More...
 
void SetUpdateRate (float updateRate)
 Set the sensor update rate (Hz) More...
 
unsigned int GetNumLaunches ()
 Get the number of times the sensor has been updated. More...
 
void IncrementNumLaunches ()
 Increments the count of number of updates.
 
std::list< std::shared_ptr< ChFilter > > GetFilterList () const
 Get the sensor's list of filters. More...
 
void PushFilter (std::shared_ptr< ChFilter > filter)
 Add a filter to the sensor. More...
 
void LockFilterList ()
 Gives ability to lock the filter list to prevent race conditions. More...
 
template<class UserBufferType >
UserBufferType GetMostRecentBuffer ()
 Get the last filter in the list that matches the template type. More...
 
template<>
CH_SENSOR_API UserR8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserRGBA8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserDIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserXYZIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserIMUBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserGPSBufferPtr GetMostRecentBuffer ()
 

Public Attributes

std::vector< std::tuple< ChVector< float >, ChVector< float > > > imu_key_frames
 Variable for communicating the sensor's keyframes from the ChSystem into the data generation filter.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::sensor::ChSensor
float m_updateRate
 sensor update rate
 
float m_lag
 sensor lag from the time all scene information is available (sensor processing time)
 
float m_collection_window
 time over which data is collected. More...
 
float m_timeLastUpdated
 time since previous update
 
std::shared_ptr< chrono::ChBodym_parent
 object to which the sensor is attached
 
chrono::ChFrame< double > m_offsetPose
 position and orientation of the sensor relative to its parent
 
std::string m_name
 name of the sensor
 
unsigned int m_num_launches
 number of times the sensor has been updated
 
std::list< std::shared_ptr< ChFilter > > m_filters
 filter list for post-processing sensor data
 
bool m_filter_list_locked = false
 gives ability to lock the filter list to prevent race conditions
 

Constructor & Destructor Documentation

◆ ChIMUSensor()

CH_SENSOR_API chrono::sensor::ChIMUSensor::ChIMUSensor ( std::shared_ptr< chrono::ChBody parent,
float  updateRate,
chrono::ChFrame< double >  offsetPose,
std::shared_ptr< ChIMUNoiseModel noise_model 
)

Class constructor for an IMU sensor.

Parameters
parentBody to which the sensor is attached.
updateRateRate at which the sensor should update.
offsetPoseRelative position and orientation of the sensor with respect to its parent object.
noise_modelNoise model for the sensor to use when augmentating data

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_sensor/ChIMUSensor.h
  • /builds/uwsbel/chrono/src/chrono_sensor/ChIMUSensor.cpp