URRROS2IMUComponent Class Reference

IMU sensor components which publish Orienation, AngularVelocity, LinearAcceleration. More...

#include <RRROS2IMUComponent.h>

Inheritance diagram for URRROS2IMUComponent:

Collaboration diagram for URRROS2IMUComponent:

Public Member Functions
	URRROS2IMUComponent ()
	Construct a new URRROS2IMUComponent object. More...
void	BeginPlay () override
virtual void	SensorUpdate () override
	Calculate IMU data, i.e. Orienation, AngularVelocity, LinearAcceleration. More...
virtual void	Reset ()
	Initialize sensor data. More...
virtual FROSImu	GetROS2Data ()
	return Data More...
virtual void	SetROS2Msg (UROS2GenericMsg *InMessage) override
	Set result of GetROS2Data to InMessage. More...
Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...
virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""), const UROS2QoS InQoS=UROS2QoS::SensorData)
	Create and initialize publisher and start sensor update by calling. More...
virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...
virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT(""))
	Set publish frequency, topic name and FrameId. More...
virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...
virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...
virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

Public Attributes
FTransform	InitialTransform = FTransform::Identity
FVector	LinearAcceleration = FVector::ZeroVector
FVector	AngularVelocity = FVector::ZeroVector
FQuat	Orientation = FQuat::Identity
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
FROSImu	Data
Public Attributes inherited from URRROS2BaseSensorComponent
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()
URRROS2BaseSensorPublisher *	SensorPublisher = nullptr
TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()
FString	TopicName = TEXT("sensor_data")
FString	FrameId = TEXT("sensor_frame")
int32	PublicationFrequencyHz = 30
bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...
bool	bIsValid = true

Protected Attributes
FVector	OffsetOrientation = FVector::ZeroVector
FVector	OrientationNoiseSum = FVector::ZeroVector
FTransform	LastTransform = FTransform::Identity
FVector	LastLinearVel = FVector::ZeroVector
FTransform	LastdT = FTransform::Identity
float	LastSensorUpdateTime
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

IMU sensor components which publish Orienation, AngularVelocity, LinearAcceleration.

UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

URRROS2IMUComponent()

URRROS2IMUComponent::URRROS2IMUComponent

(

)

Construct a new URRROS2IMUComponent object.

Member Function Documentation

BeginPlay()

void URRROS2IMUComponent::BeginPlay ( )

override

GetROS2Data()

virtual FROSImu URRROS2IMUComponent::GetROS2Data ( )

virtual

return Data

Returns

FROSImu

UFUNCTION(BlueprintCallable)

Reset()

virtual void URRROS2IMUComponent::Reset ( )

virtual

Initialize sensor data.

UFUNCTION(BlueprintCallable)

SensorUpdate()

virtual void URRROS2IMUComponent::SensorUpdate ( )

overridevirtual

Calculate IMU data, i.e. Orienation, AngularVelocity, LinearAcceleration.

Reimplemented from URRROS2BaseSensorComponent.

SetROS2Msg()

virtual void URRROS2IMUComponent::SetROS2Msg ( UROS2GenericMsg *  InMessage )

overridevirtual

Set result of GetROS2Data to InMessage.

Parameters

InMessage

Reimplemented from URRROS2BaseSensorComponent.

Member Data Documentation

AngularVelocity

FVector URRROS2IMUComponent::AngularVelocity = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadOnly)

AngularVelocityNoise

TObjectPtr<URRGaussianNoise> URRROS2IMUComponent::AngularVelocityNoise

UPROPERTY(EditAnywhere, Category = "Noise")

Data

FROSImu URRROS2IMUComponent::Data

UPROPERTY(BlueprintReadWrite)

InitialTransform

FTransform URRROS2IMUComponent::InitialTransform = FTransform::Identity

UPROPERTY(EditAnywhere, BlueprintReadWrite)

LastdT

FTransform URRROS2IMUComponent::LastdT = FTransform::Identity

protected

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

LastLinearVel

FVector URRROS2IMUComponent::LastLinearVel = FVector::ZeroVector

protected

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

LastSensorUpdateTime

float URRROS2IMUComponent::LastSensorUpdateTime

protected

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

LastTransform

FTransform URRROS2IMUComponent::LastTransform = FTransform::Identity

protected

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

LinearAcceleration

FVector URRROS2IMUComponent::LinearAcceleration = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadOnly)

LinearAccelerationNoise

TObjectPtr<URRGaussianNoise> URRROS2IMUComponent::LinearAccelerationNoise

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseMeanAngularVelocity

float URRROS2IMUComponent::NoiseMeanAngularVelocity = 0.f

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseMeanLinearAcceleration

float URRROS2IMUComponent::NoiseMeanLinearAcceleration = 0.f

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseMeanOrientation

float URRROS2IMUComponent::NoiseMeanOrientation = 0.f

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseVarianceAngularVelocity

float URRROS2IMUComponent::NoiseVarianceAngularVelocity = 0.01f

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseVarianceLinearAcceleration

float URRROS2IMUComponent::NoiseVarianceLinearAcceleration = 0.05f

UPROPERTY(EditAnywhere, Category = "Noise")

NoiseVarianceOrientation

float URRROS2IMUComponent::NoiseVarianceOrientation = 0.01f

UPROPERTY(EditAnywhere, Category = "Noise")

OffsetOrientation

FVector URRROS2IMUComponent::OffsetOrientation = FVector::ZeroVector

protected

UPROPERTY(BlueprintReadWrite)

Orientation

FQuat URRROS2IMUComponent::Orientation = FQuat::Identity

UPROPERTY(EditAnywhere, BlueprintReadOnly)

OrientationNoise

TObjectPtr<URRGaussianNoise> URRROS2IMUComponent::OrientationNoise

UPROPERTY(EditAnywhere, Category = "Noise")

OrientationNoiseDriftCoefficient

float URRROS2IMUComponent::OrientationNoiseDriftCoefficient = 0.0f

UPROPERTY(EditAnywhere, Category = "Noise")

OrientationNoiseSum

FVector URRROS2IMUComponent::OrientationNoiseSum = FVector::ZeroVector

protected

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

• /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2IMUComponent.h