semantic_components::IMUSensor Class Reference

Inheritance diagram for semantic_components::IMUSensor:

Collaboration diagram for semantic_components::IMUSensor:

Public Member Functions
	IMUSensor (const std::string &name)
std::array< double, 4 >	get_orientation ()
	Return orientation. More...
std::array< double, 3 >	get_angular_velocity ()
	Return angular velocity. More...
std::array< double, 3 >	get_linear_acceleration ()
	Return linear acceleration. More...
bool	get_values_as_message (sensor_msgs::msg::Imu &message)
	Return Imu message with orientation, angular velocity and linear acceleration. More...
Public Member Functions inherited from semantic_components::SemanticComponentInterface< sensor_msgs::msg::Imu >
	SemanticComponentInterface (const std::string &name, size_t size=0)
bool	assign_loaned_state_interfaces (std::vector< hardware_interface::LoanedStateInterface > &state_interfaces)
	Assign loaned state interfaces from the hardware. More...
void	release_interfaces ()
	Release loaned interfaces from the hardware.
virtual std::vector< std::string >	get_state_interface_names ()
	Definition of state interface names for the component. More...
bool	get_values (std::vector< double > &values) const
	Return all values. More...
bool	get_values_as_message (sensor_msgs::msg::Imu &)
	Return values as MessageReturnType. More...

Protected Attributes
std::array< double, 4 >	orientation_
std::array< double, 3 >	angular_velocity_
std::array< double, 3 >	linear_acceleration_
Protected Attributes inherited from semantic_components::SemanticComponentInterface< sensor_msgs::msg::Imu >
std::string	name_
std::vector< std::string >	interface_names_
std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	state_interfaces_

Member Function Documentation

get_angular_velocity()

std::array<double, 3> semantic_components::IMUSensor::get_angular_velocity ( )

inline

Return angular velocity.

Return angular velocity reported by an IMU

Returns

array of size 3 with angular velocity values.

get_linear_acceleration()

std::array<double, 3> semantic_components::IMUSensor::get_linear_acceleration ( )

inline

Return linear acceleration.

Return linear acceleration reported by an IMU

Returns

array of size 3 with linear acceleration values.

get_orientation()

std::array<double, 4> semantic_components::IMUSensor::get_orientation ( )

inline

Return orientation.

Return orientation reported by an IMU

Returns

array of size 4 with orientation quaternion (x,y,z,w)

get_values_as_message()

bool semantic_components::IMUSensor::get_values_as_message ( sensor_msgs::msg::Imu &  message )

inline

Return Imu message with orientation, angular velocity and linear acceleration.

Constructs and return a IMU message from the current values.

Returns

imu message from values;

---

The documentation for this class was generated from the following file:

• ros2_control/controller_interface/include/semantic_components/imu_sensor.hpp