#include <InertialMeasurementUnit.h>

Inheritance diagram for AInertialMeasurementUnit:

Collaboration diagram for AInertialMeasurementUnit:

Public Member Functions
	AInertialMeasurementUnit (const FObjectInitializer &ObjectInitializer)

carla::geom::Vector3D	ComputeAccelerometer (const float DeltaTime)
	Accelerometer: measures linear acceleration in m/s^2. More...

const carla::geom::Vector3D	ComputeAccelerometerNoise (const FVector &Accelerometer)

float	ComputeCompass ()
	Magnetometer: orientation with respect to the North in rad. More...

carla::geom::Vector3D	ComputeGyroscope ()
	Gyroscope: measures angular velocity in rad/sec. More...

const carla::geom::Vector3D	ComputeGyroscopeNoise (const FVector &Gyroscope)

const FVector &	GetAccelerationStandardDeviation () const

const FVector &	GetGyroscopeBias () const

const FVector &	GetGyroscopeStandardDeviation () const

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime) override

void	Set (const FActorDescription &ActorDescription) override

void	SetAccelerationStandardDeviation (const FVector &Vec)

void	SetGyroscopeBias (const FVector &Vec)

void	SetGyroscopeStandardDeviation (const FVector &Vec)

void	SetOwner (AActor *Owner) override

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

boost::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream. More...

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

virtual void	PrePhysTick (float DeltaSeconds)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor. More...

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Static Public Attributes
static const FVector	CarlaNorthVector
	Based on OpenDRIVE's lon and lat, North is in (0.0f, -1.0f, 0.0f) More...

Private Member Functions
void	BeginPlay () override

Private Attributes
FVector	BiasGyro
	Bias for gyroscope settings. More...

float	PrevDeltaTime
	Used to compute the acceleration. More...

std::array< FVector, 2 >	PrevLocation
	Used to compute the acceleration. More...

FVector	StdDevAccel
	Standard deviation for acceleration settings. More...

FVector	StdDevGyro
	Standard deviation for gyroscope settings. More...

Additional Inherited Members
Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorT >
FAsyncDataStream	GetDataStream (const SensorT &Self)
	Return the FDataStream associated with this sensor. More...

void	PostActorCreated () override

Protected Attributes inherited from ASensor
bool	bIsActive = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output. More...

int32	Seed = 123456789
	Seed of the pseudo-random engine. More...

Detailed Description

Definition at line 23 of file InertialMeasurementUnit.h.

Constructor & Destructor Documentation

◆ AInertialMeasurementUnit()

AInertialMeasurementUnit::AInertialMeasurementUnit ( const FObjectInitializer & ObjectInitializer )

Definition at line 25 of file InertialMeasurementUnit.cpp.

References PrevDeltaTime, PrevLocation, and ASensor::RandomEngine.

Member Function Documentation

◆ BeginPlay()

void AInertialMeasurementUnit::BeginPlay ( )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 249 of file InertialMeasurementUnit.cpp.

◆ ComputeAccelerometer()

carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometer ( const float DeltaTime )

Accelerometer: measures linear acceleration in m/s^2.

Definition at line 102 of file InertialMeasurementUnit.cpp.

References ComputeAccelerometerNoise(), carla::traffic_manager::constants::MotionPlan::GRAVITY, PrevDeltaTime, and PrevLocation.

Referenced by PostPhysTick().

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◆ ComputeAccelerometerNoise()

const carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometerNoise ( const FVector & Accelerometer )

Definition at line 73 of file InertialMeasurementUnit.cpp.

References URandomEngine::GetNormalDistribution(), ASensor::RandomEngine, and StdDevAccel.

Referenced by ComputeAccelerometer().

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◆ ComputeCompass()

float AInertialMeasurementUnit::ComputeCompass ( )

Magnetometer: orientation with respect to the North in rad.

Definition at line 167 of file InertialMeasurementUnit.cpp.

References CarlaNorthVector.

Referenced by PostPhysTick().

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◆ ComputeGyroscope()

carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscope ( )

Gyroscope: measures angular velocity in rad/sec.

Definition at line 147 of file InertialMeasurementUnit.cpp.

References ComputeGyroscopeNoise(), and FIMU_GetActorAngularVelocityInRadians().

Referenced by PostPhysTick().

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◆ ComputeGyroscopeNoise()

const carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscopeNoise ( const FVector & Gyroscope )

Definition at line 87 of file InertialMeasurementUnit.cpp.

References BiasGyro, URandomEngine::GetNormalDistribution(), ASensor::RandomEngine, and StdDevGyro.

Referenced by ComputeGyroscope().

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◆ GetAccelerationStandardDeviation()

const FVector & AInertialMeasurementUnit::GetAccelerationStandardDeviation ( ) const

Definition at line 234 of file InertialMeasurementUnit.cpp.

References StdDevAccel.

◆ GetGyroscopeBias()

const FVector & AInertialMeasurementUnit::GetGyroscopeBias ( ) const

Definition at line 244 of file InertialMeasurementUnit.cpp.

References BiasGyro.

◆ GetGyroscopeStandardDeviation()

const FVector & AInertialMeasurementUnit::GetGyroscopeStandardDeviation ( ) const

Definition at line 239 of file InertialMeasurementUnit.cpp.

References StdDevGyro.

◆ GetSensorDefinition()

FActorDefinition AInertialMeasurementUnit::GetSensorDefinition ( )

static

Definition at line 38 of file InertialMeasurementUnit.cpp.

References UActorBlueprintFunctionLibrary::MakeIMUDefinition().

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◆ PostPhysTick()

void AInertialMeasurementUnit::PostPhysTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaTime
	)

overridevirtual

Reimplemented from ASensor.

Definition at line 185 of file InertialMeasurementUnit.cpp.

References ComputeAccelerometer(), ComputeCompass(), ComputeGyroscope(), carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), FDataStreamTmpl< T >::GetSensorType(), ASensor::GetToken(), and ASensor::Stream.

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◆ Set()

void AInertialMeasurementUnit::Set ( const FActorDescription & ActorDescription )

overridevirtual

Reimplemented from ASensor.

Definition at line 43 of file InertialMeasurementUnit.cpp.

References UActorBlueprintFunctionLibrary::SetIMU().

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◆ SetAccelerationStandardDeviation()

void AInertialMeasurementUnit::SetAccelerationStandardDeviation ( const FVector & Vec )

Definition at line 219 of file InertialMeasurementUnit.cpp.

References StdDevAccel.

Referenced by UActorBlueprintFunctionLibrary::SetIMU().

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◆ SetGyroscopeBias()

void AInertialMeasurementUnit::SetGyroscopeBias ( const FVector & Vec )

Definition at line 229 of file InertialMeasurementUnit.cpp.

References BiasGyro.

Referenced by UActorBlueprintFunctionLibrary::SetIMU().

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◆ SetGyroscopeStandardDeviation()

void AInertialMeasurementUnit::SetGyroscopeStandardDeviation ( const FVector & Vec )

Definition at line 224 of file InertialMeasurementUnit.cpp.

References StdDevGyro.

Referenced by UActorBlueprintFunctionLibrary::SetIMU().

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◆ SetOwner()

void AInertialMeasurementUnit::SetOwner ( AActor * Owner )

override

Definition at line 49 of file InertialMeasurementUnit.cpp.

Member Data Documentation

◆ BiasGyro

FVector AInertialMeasurementUnit::BiasGyro

private

Bias for gyroscope settings.

Definition at line 80 of file InertialMeasurementUnit.h.

Referenced by ComputeGyroscopeNoise(), GetGyroscopeBias(), and SetGyroscopeBias().

◆ CarlaNorthVector

const FVector AInertialMeasurementUnit::CarlaNorthVector

static

Initial value:

=

FVector(0.0f, -1.0f, 0.0f)

Based on OpenDRIVE's lon and lat, North is in (0.0f, -1.0f, 0.0f)

Definition at line 67 of file InertialMeasurementUnit.h.

Referenced by ComputeCompass().

◆ PrevDeltaTime

float AInertialMeasurementUnit::PrevDeltaTime

private

Used to compute the acceleration.

Definition at line 86 of file InertialMeasurementUnit.h.

Referenced by AInertialMeasurementUnit(), and ComputeAccelerometer().

◆ PrevLocation

std::array<FVector, 2> AInertialMeasurementUnit::PrevLocation

private

Used to compute the acceleration.

Definition at line 83 of file InertialMeasurementUnit.h.

Referenced by AInertialMeasurementUnit(), and ComputeAccelerometer().

◆ StdDevAccel

FVector AInertialMeasurementUnit::StdDevAccel

private

Standard deviation for acceleration settings.

Definition at line 74 of file InertialMeasurementUnit.h.

Referenced by ComputeAccelerometerNoise(), GetAccelerationStandardDeviation(), and SetAccelerationStandardDeviation().

◆ StdDevGyro

FVector AInertialMeasurementUnit::StdDevGyro

private

Standard deviation for gyroscope settings.

Definition at line 77 of file InertialMeasurementUnit.h.

Referenced by ComputeGyroscopeNoise(), GetGyroscopeStandardDeviation(), and SetGyroscopeStandardDeviation().

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AInertialMeasurementUnit()

Member Function Documentation

◆ BeginPlay()

◆ ComputeAccelerometer()

◆ ComputeAccelerometerNoise()

◆ ComputeCompass()

◆ ComputeGyroscope()

◆ ComputeGyroscopeNoise()

◆ GetAccelerationStandardDeviation()

◆ GetGyroscopeBias()

◆ GetGyroscopeStandardDeviation()

◆ GetSensorDefinition()

◆ PostPhysTick()

◆ Set()

◆ SetAccelerationStandardDeviation()

◆ SetGyroscopeBias()

◆ SetGyroscopeStandardDeviation()

◆ SetOwner()

Member Data Documentation

◆ BiasGyro

◆ CarlaNorthVector

◆ PrevDeltaTime

◆ PrevLocation

◆ StdDevAccel

◆ StdDevGyro