MMM::IMUSensor Class Reference

Inheritance diagram for MMM::IMUSensor:

Public Member Functions
std::shared_ptr< BasicSensor< IMUSensorMeasurement > >	cloneConfiguration ()
int	getPriority ()
std::string	getType ()
std::string	getVersion ()
	IMUSensor (const std::string &segment, const std::string &offsetUnit="mm", const Eigen::Matrix4f &offset=Eigen::Matrix4f::Identity(), const std::string &description=std::string())
Public Member Functions inherited from MMM::AttachedSensor< IMUSensorMeasurement >
bool	checkModel (ModelPtr model) override
bool	equalsConfiguration (SensorPtr other) override
bool	hasSensorConfigurationContent () const override
Public Member Functions inherited from MMM::InterpolatableSensor< IMUSensorMeasurement >
std::shared_ptr< IMUSensorMeasurement >	getDerivedMeasurement (float timestep)
bool	isInterpolatable ()
void	synchronizeSensorMeasurements (float timeFrequency, float minTimestep, float maxTimestep)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation. Removes all measurements outside the given intervall.
Public Member Functions inherited from MMM::BasicSensor< IMUSensorMeasurement >
virtual bool	addSensorMeasurement (std::shared_ptr< IMUSensorMeasurement > measurement)
SensorPtr	clone ()
std::shared_ptr< BasicSensor< IMUSensorMeasurement > >	cloneDerived ()
void	extend (float minTimestep, float maxTimestep)
virtual std::shared_ptr< IMUSensorMeasurement >	getDerivedMeasurement (float timestep, float delta)
float	getMaxTimestep ()
SensorMeasurementPtr	getMeasurement (float timestep)
SensorMeasurementPtr	getMeasurement (float timestep, float delta)
std::map< float, SensorMeasurementPtr >	getMeasurements ()
float	getMinTimestep ()
SensorPtr	getSegmentSensor (float startTimestep, float endTimestep, bool changeTimestep=false)
std::vector< float >	getTimesteps ()
bool	hasMeasurement ()
bool	hasMeasurement (float timestep)
virtual void	shiftMeasurements (float delta)
Public Member Functions inherited from MMM::Sensor
void	appendSensorXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
std::string	getDescription ()
std::string	getName ()
virtual std::vector< std::string >	getSensorSpecificInformation (const std::string &name)
std::string	getUniqueName ()
virtual bool	hasSensorConfigurationContent () const =0
virtual void	initializeModel (ModelPtr model, float timestep, bool extend=false, bool update=false)
virtual void	initializeModel (ModelPtr model, float timestep, float delta, bool extend=false, bool update=false)
virtual bool	isMirrorSupported (MotionType type)
virtual void	mirrorMotionData (const Eigen::Matrix4f &referencePose, int referenceAxis)
virtual void	scaleMotionData (float scaleFactor)
void	setDescription (const std::string &description)
void	setName (const std::string &name)
void	setUniqueName (const std::string &uniqueName)
virtual void	shiftMotionData (const Eigen::Vector3f &positionDelta)
void	synchronizeSensorMeasurements (float timeFrequency)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation.
Public Member Functions inherited from MMM::IAttachedSensor
void	appendConfigurationElementsXML (simox::xml::RapidXMLWrapperNodePtr configurationNode)
Eigen::Matrix4f	getGlobalPose (ModelPtr model)
Eigen::Matrix4f	getOffset ()
Eigen::Matrix4f	getOffsetInCM () const
	Returns the offset transformation matrix in centi meter.
std::string	getOffsetUnit ()
std::string	getSegment ()
void	saveSensorConfiguration (const std::string &filePath)
void	setOffset (const Eigen::Matrix4f &offset)
void	setOffsetUnit (const std::string &offsetUnit)
void	setSegment (const std::string &segment)

Static Public Member Functions
static IMUSensorPtr	loadSensorConfigurationXML (simox::xml::RapidXMLWrapperNodePtr configurationNode, const std::filesystem::path &filePath)
static IMUSensorPtr	loadSensorXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
Static Public Member Functions inherited from MMM::Sensor
static SensorPtr	join (SensorPtr sensor1, SensorPtr sensor2)
Static Public Member Functions inherited from MMM::IAttachedSensor
static void	loadSensorConfiguration (IAttachedSensorPtr attachedSensor, simox::xml::RapidXMLWrapperNodePtr configurationNode, const std::filesystem::path &filePath)

Static Public Attributes
static constexpr const char *	TYPE = "IMU"
static constexpr const char *	VERSION = "1.0"
Static Public Attributes inherited from MMM::Sensor
static std::function< bool(std::filesystem::path &)>	handleSensorFilePath = NULL

Additional Inherited Members
Protected Member Functions inherited from MMM::AttachedSensor< IMUSensorMeasurement >
void	appendConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &) override
	AttachedSensor (const std::string &segment, const std::string &offsetUnit="mm", const Eigen::Matrix4f &offset=Eigen::Matrix4f::Identity(), const std::string &description=std::string())
void	loadConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &) override
Protected Member Functions inherited from MMM::InterpolatableSensor< IMUSensorMeasurement >
	InterpolatableSensor (const std::string &description=std::string(), const std::map< float, std::shared_ptr< IMUSensorMeasurement > > &measurements=std::map< float, std::shared_ptr< IMUSensorMeasurement > >())
Protected Member Functions inherited from MMM::BasicSensor< IMUSensorMeasurement >
virtual void	appendDataXML (simox::xml::RapidXMLWrapperNodePtr node) override
	BasicSensor (const std::string &description=std::string(), const std::map< float, std::shared_ptr< IMUSensorMeasurement > > &measurements=std::map< float, std::shared_ptr< IMUSensorMeasurement > >())
SensorPtr	joinSensor (SensorPtr sensor)
virtual void	loadMeasurementNodeXML (simox::xml::RapidXMLWrapperNodePtr node) override
Protected Member Functions inherited from MMM::Sensor
virtual void	appendTypeXML (simox::xml::RapidXMLWrapperNodePtr node)
virtual void	loadSensor (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
	Sensor (const std::string &description="")
Protected Member Functions inherited from MMM::IAttachedSensor
float	getUnitScalingToCM (const std::string &unit) const
	IAttachedSensor (const std::string &segment, const std::string &offsetUnit="mm", const Eigen::Matrix4f &offset=Eigen::Matrix4f::Identity())
Protected Attributes inherited from MMM::BasicSensor< IMUSensorMeasurement >
std::map< float, std::shared_ptr< IMUSensorMeasurement > >	measurements
Protected Attributes inherited from MMM::Sensor
std::string	description
std::string	name
std::string	uniqueName
Protected Attributes inherited from MMM::IAttachedSensor
Eigen::Matrix4f	offset
std::string	offsetUnit
std::string	segment

Member Function Documentation

getPriority()

int MMM::IMUSensor::getPriority ( )

virtual

Returns the priority of this sensor. The higher the value the sooner this sensor is in the xml representation of a motion.

Reimplemented from MMM::Sensor.

getType()

std::string MMM::IMUSensor::getType ( )

virtual

Returns the sensor type.

Implements MMM::Sensor.

getVersion()

std::string MMM::IMUSensor::getVersion ( )

virtual

Returns the sensor's version.

Implements MMM::Sensor.

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

• /builds/sw/mmm/core/MMM/Motion/Plugin/IMUPlugin/IMUSensor.h
• /builds/sw/mmm/core/MMM/Motion/Plugin/IMUPlugin/IMUSensor.cpp