InertialMeasurementUnit.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Carla/Sensor/Sensor.h"
 
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
 
#include <util/disable-ue4-macros.h>
#include "carla/geom/Vector3D.h"
#include <util/enable-ue4-macros.h>
 
#include <array>
 
#include "InertialMeasurementUnit.generated.h"
 
UCLASS()
class CARLA_API AInertialMeasurementUnit : public ASensor
{
  GENERATED_BODY()
 
public:
 
  AInertialMeasurementUnit(const FObjectInitializer &ObjectInitializer);
 
  static FActorDefinition GetSensorDefinition();
 
  void Set(const FActorDescription &ActorDescription) override;
 
  void SetOwner(AActor *Owner) override;
 
  void GetMirrorState(carla::multigpu::SensorState &State) const override;
 
  void SetMirrorState(const carla::multigpu::SensorState &State) override;
 
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime) override;
 
  const carla::geom::Vector3D ComputeAccelerometerNoise(
      const FVector &Accelerometer);
 
  const carla::geom::Vector3D ComputeGyroscopeNoise(
      const FVector &Gyroscope);
 
  /// Accelerometer: measures linear acceleration in m/s^2
  carla::geom::Vector3D ComputeAccelerometer(const float DeltaTime);
 
  /// Gyroscope: measures angular velocity in rad/sec
  carla::geom::Vector3D ComputeGyroscope();
 
  /// Magnetometer: orientation with respect to the North in rad
  float ComputeCompass();
 
  void SetAccelerationStandardDeviation(const FVector &Vec);
 
  void SetGyroscopeStandardDeviation(const FVector &Vec);
 
  void SetGyroscopeBias(const FVector &Vec);
 
  const FVector &GetAccelerationStandardDeviation() const;
 
  const FVector &GetGyroscopeStandardDeviation() const;
 
  const FVector &GetGyroscopeBias() const;
 
  const carla::geom::Vector3D& GetAccelerometerValue() const;
 
  const carla::geom::Vector3D& GetGyroscopeValue() const;
 
  float GetCompassValue() const;
 
  /// Based on OpenDRIVE's lon and lat, North is in (0.0f, -1.0f, 0.0f)
  static const FVector CarlaNorthVector;
 
private:
 
  void BeginPlay() override;
 
  /// Standard deviation for acceleration settings.
  FVector StdDevAccel;
 
  /// Standard deviation for gyroscope settings.
  FVector StdDevGyro;
 
  /// Bias for gyroscope settings.
  FVector BiasGyro;
 
  /// Used to compute the acceleration
  std::array<FVector, 2> PrevLocation;
 
  /// Used to compute the acceleration
  float PrevDeltaTime;
 
  /// Multi-GPU secondary: the primary IMU's rotation relative to its parent.
  TOptional<FQuat> MirroredLocalRotation;
 
  /// Accelerometer value calculated after each PostPhysTick
  carla::geom::Vector3D AccelerometerValue;
 
  /// Gyroscope value calculated after each PostPhysTick
  carla::geom::Vector3D GyroscopeValue;
 
  /// Magnetometer value calculated after each PostPhysTick
  float CompassValue;
    
};