RRROS2IMUComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "EngineUtils.h"
 
 
 
// rclUE
 
#include "RRROS2BaseSensorComponent.h"
 
 
 
#include <Msgs/ROS2Imu.h>
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
 
 
#include "RRROS2IMUComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2IMUComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRROS2IMUComponent();
 
 
 
    void BeginPlay() override;
 
 
 
    virtual void SensorUpdate() override;
 
 
 
 
    FTransform InitialTransform = FTransform::Identity;
 
 
 
 
    FVector LinearAcceleration = FVector::ZeroVector;
 
 
 
 
    FVector AngularVelocity = FVector::ZeroVector;
 
 
 
 
    FQuat Orientation = FQuat::Identity;
 
 
 
    virtual void Reset();
 
 
 
 
    TObjectPtr<URRGaussianNoise> LinearAccelerationNoise;
 
 
 
 
    float NoiseMeanLinearAcceleration = 0.f;
 
 
 
 
    float NoiseVarianceLinearAcceleration = 0.05f;
 
 
 
 
    TObjectPtr<URRGaussianNoise> OrientationNoise;
 
 
 
 
    float NoiseMeanOrientation = 0.f;
 
 
 
 
    float NoiseVarianceOrientation = 0.01f;
 
 
 
 
    float OrientationNoiseDriftCoefficient = 0.0f;
 
 
 
 
    TObjectPtr<URRGaussianNoise> AngularVelocityNoise;
 
 
 
 
    float NoiseMeanAngularVelocity = 0.f;
 
 
 
 
    float NoiseVarianceAngularVelocity = 0.01f;
 
 
 
    // ROS
 
    virtual FROSImu GetROS2Data();
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
 
    FROSImu Data;
 
 
 
protected:
 
 
    FVector OffsetOrientation = FVector::ZeroVector;
 
 
 
    // sensor drift
 
    FVector OrientationNoiseSum = FVector::ZeroVector;
 
 
 
 
    FTransform LastTransform = FTransform::Identity;
 
 
 
 
    FVector LastLinearVel = FVector::ZeroVector;
 
 
 
 
    FTransform LastdT = FTransform::Identity;
 
 
 
 
    float LastSensorUpdateTime;
 
};