mc_rbdyn::BodySensor Struct Reference

#include <mc_rbdyn/BodySensor.h>

Inheritance diagram for mc_rbdyn::BodySensor:

Collaboration diagram for mc_rbdyn::BodySensor:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BodySensor ()
	BodySensor (const std::string &name, const std::string &bodyName, const sva::PTransformd &X_b_s)
	BodySensor (const BodySensor &bs)
BodySensor &	operator= (const BodySensor &bs)
	BodySensor (BodySensor &&)=default
BodySensor &	operator= (BodySensor &&)=default
	~BodySensor () noexcept override
const std::string &	parentBody () const
const sva::PTransformd &	X_b_s () const
const Eigen::Vector3d &	position () const
void	position (const Eigen::Vector3d &position)
const Eigen::Quaterniond &	orientation () const
void	orientation (const Eigen::Quaterniond &orientation)
const Eigen::Vector3d &	linearVelocity () const
void	linearVelocity (const Eigen::Vector3d &linear_velocity)
const Eigen::Vector3d &	angularVelocity () const
void	angularVelocity (const Eigen::Vector3d &angular_velocity)
const MC_RTC_DEPRECATED Eigen::Vector3d &	acceleration () const
MC_RTC_DEPRECATED void	acceleration (const Eigen::Vector3d &acceleration)
const Eigen::Vector3d &	linearAcceleration () const
void	linearAcceleration (const Eigen::Vector3d &linear_acceleration)
const Eigen::Vector3d &	angularAcceleration () const
void	angularAcceleration (const Eigen::Vector3d &angular_acceleration)
DevicePtr	clone () const override
Public Member Functions inherited from mc_rbdyn::Device
	Device (const std::string &name)
	Device (const std::string &name, const std::string &parent, const sva::PTransformd &X_p_s)
	Device (const Device &)=delete
Device &	operator= (const Device &)=delete
	Device (Device &&)=default
Device &	operator= (Device &&)=default
virtual	~Device () noexcept=default
const std::string &	name () const
const std::string &	type () const
const std::string &	parent () const
void	parent (const std::string &p)
const sva::PTransformd &	X_p_d () const
const sva::PTransformd &	X_p_s () const
void	X_p_d (const sva::PTransformd &pt)
void	X_p_s (const sva::PTransformd &pt)
sva::PTransformd	X_0_d (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot) const

Additional Inherited Members
Protected Attributes inherited from mc_rbdyn::Device
std::string	type_
std::string	name_
std::string	parent_
sva::PTransformd	X_p_s_

Detailed Description

This structure defines a body sensor, that is a sensor that provides dynamic information about a body. It would typically be used to represent an IMU reading but in more ideal (simulation, external tracking system...) it can hold more information

Constructor & Destructor Documentation

BodySensor() [1/4]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_rbdyn::BodySensor::BodySensor ( )

inline

Default constructor, does not represent a valid body sensor

BodySensor() [2/4]

mc_rbdyn::BodySensor::BodySensor ( const std::string &  name, const std::string &  bodyName, const sva::PTransformd &  X_b_s  )

inline

Constructor

Parameters

name	Name of the sensor
bodyName	Name of the body to which the sensor is attached
X_b_s	Transformation from the parent body to the sensor

BodySensor() [3/4]

mc_rbdyn::BodySensor::BodySensor ( const BodySensor &  bs )

inline

BodySensor() [4/4]

mc_rbdyn::BodySensor::BodySensor ( BodySensor &&  )

default

~BodySensor()

mc_rbdyn::BodySensor::~BodySensor ( )

overridenoexcept

Member Function Documentation

acceleration() [1/2]

const MC_RTC_DEPRECATED Eigen::Vector3d& mc_rbdyn::BodySensor::acceleration ( ) const

inline

Return the sensor's linear acceleration reading, Zero if not provided

Deprecated:

in favor of const Eigen::Vector3d & linearAcceleration() const

acceleration() [2/2]

MC_RTC_DEPRECATED void mc_rbdyn::BodySensor::acceleration ( const Eigen::Vector3d &  acceleration )

inline

Set the sensor's linear acceleration reading

Deprecated:

in favor of void linearAcceleration(const Eigen::Vector3d &)

angularAcceleration() [1/2]

const Eigen::Vector3d& mc_rbdyn::BodySensor::angularAcceleration ( ) const

inline

Return the sensor's angular acceleration reading, Zero if not provided

angularAcceleration() [2/2]

void mc_rbdyn::BodySensor::angularAcceleration ( const Eigen::Vector3d &  angular_acceleration )

inline

Set the sensor's angular acceleration reading

angularVelocity() [1/2]

const Eigen::Vector3d& mc_rbdyn::BodySensor::angularVelocity ( ) const

inline

Return the sensor's angular velocity reading, Zero if not provided

angularVelocity() [2/2]

void mc_rbdyn::BodySensor::angularVelocity ( const Eigen::Vector3d &  angular_velocity )

inline

Set the sensor's angular velocity reading

clone()

DevicePtr mc_rbdyn::BodySensor::clone ( ) const

overridevirtual

Perform a device copy

Implements mc_rbdyn::Device.

linearAcceleration() [1/2]

const Eigen::Vector3d& mc_rbdyn::BodySensor::linearAcceleration ( ) const

inline

Return the sensor's linear acceleration reading, Zero if not provided

linearAcceleration() [2/2]

void mc_rbdyn::BodySensor::linearAcceleration ( const Eigen::Vector3d &  linear_acceleration )

inline

Set the sensor's linear acceleration reading

linearVelocity() [1/2]

const Eigen::Vector3d& mc_rbdyn::BodySensor::linearVelocity ( ) const

inline

Return the sensor's linear velocity reading, Zero if not provided

linearVelocity() [2/2]

void mc_rbdyn::BodySensor::linearVelocity ( const Eigen::Vector3d &  linear_velocity )

inline

Set the sensor's linear velocity reading

operator=() [1/2]

BodySensor& mc_rbdyn::BodySensor::operator= ( BodySensor &&  )

default

operator=() [2/2]

BodySensor& mc_rbdyn::BodySensor::operator= ( const BodySensor &  bs )

inline

orientation() [1/2]

const Eigen::Quaterniond& mc_rbdyn::BodySensor::orientation ( ) const

inline

Return the sensor's orientation reading, Identity if not provided

orientation() [2/2]

void mc_rbdyn::BodySensor::orientation ( const Eigen::Quaterniond &  orientation )

inline

Set the sensor's orientation reading

Note

By convention, this rotation should be given from the inertial frame (i.e. a fixed frame in the real world) to a sensor frame of the robot.

parentBody()

const std::string& mc_rbdyn::BodySensor::parentBody ( ) const

inline

Get the sensor's parent body name

position() [1/2]

const Eigen::Vector3d& mc_rbdyn::BodySensor::position ( ) const

inline

Return the sensor's position reading, Zero if not provided

position() [2/2]

void mc_rbdyn::BodySensor::position ( const Eigen::Vector3d &  position )

inline

Set the sensor's position reading

X_b_s()

const sva::PTransformd& mc_rbdyn::BodySensor::X_b_s ( ) const

inline

Return the transformation from the parent body to the sensor

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

• include/mc_rbdyn/BodySensor.h