mujoco_ros2_control::IMUSensorData Struct Reference

#include <data.hpp>

Collaboration diagram for mujoco_ros2_control::IMUSensorData:

Public Attributes
std::string	name
SensorData< Eigen::Quaternion< double > >	orientation
SensorData< Eigen::Vector3d >	angular_velocity
SensorData< Eigen::Vector3d >	linear_acceleration
double	orientation_noise_stddev = 0.0
double	angular_velocity_noise_stddev = 0.0
double	linear_acceleration_noise_stddev = 0.0
NoiseState	noise
std::vector< double >	orientation_covariance
std::vector< double >	angular_velocity_covariance
std::vector< double >	linear_acceleration_covariance

Detailed Description

Parameters

orientation_noise_stddev	Standard deviation of zero-mean Gaussian noise added to orientation on read; taken from the underlying MJCF <framequat> sensor's noise attribute (0 by default).
angular_velocity_noise_stddev	Standard deviation (rad/s) of zero-mean Gaussian noise added to angular_velocity on read; taken from the underlying MJCF <gyro> sensor's noise attribute (0 by default).
linear_acceleration_noise_stddev	Standard deviation (m/s^2) of zero-mean Gaussian noise added to linear_acceleration on read; taken from the underlying MJCF <accelerometer> sensor's noise attribute (0 by default).
noise	Shape (ros2_control noise_distribution parameter, defaults to Gaussian) and RNG shared by all three noise fields above; the RNG is seeded from std::random_device (noise is non-deterministic across runs).

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

• mujoco_ros2_control/mujoco_ros2_control/include/mujoco_ros2_control/data.hpp