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RigidBodyMagnetometer Class Reference

RigidBodyMagnetometer. More...

#include <drake/systems/plants/RigidBodySystem.h>

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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RigidBodyMagnetometer (RigidBodySystem const &sys, const std::string &name, const std::shared_ptr< RigidBodyFrame > frame, double declination)
 
 ~RigidBodyMagnetometer () override
 
size_t getNumOutputs () const override
 
Eigen::VectorXd output (const double &t, const KinematicsCache< double > &rigid_body_state, const RigidBodySystem::InputVector< double > &u) const override
 
void setNoiseModel (std::shared_ptr< NoiseModel< double, 3, Eigen::Vector3d >> model)
 
void setDeclination (double magnetic_declination)
 
- Public Member Functions inherited from RigidBodySensor
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RigidBodySensor (const RigidBodySystem &sys, const std::string &name, std::shared_ptr< RigidBodyFrame > frame)
 The constructor. More...
 
virtual ~RigidBodySensor ()
 
virtual bool isDirectFeedthrough () const
 
const std::string & get_name () const
 Returns the name of the sensor. More...
 
const std::string & get_model_name () const
 Returns the name of the model (i.e., robot) that owns this sensor. More...
 
const RigidBodyFrame & get_frame () const
 Returns the frame to which thi sensor is attached. More...
 
const RigidBodySystem & get_rigid_body_system () const
 Returns the rigid body system to which this sensor attaches. More...
 

Detailed Description

RigidBodyMagnetometer.

Simulates a sensor that measures magnetic fields

Constructor & Destructor Documentation

RigidBodyMagnetometer ( RigidBodySystem const &  sys,
const std::string &  name,
const std::shared_ptr< RigidBodyFrame >  frame,
double  declination 
)

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~RigidBodyMagnetometer ( )
inlineoverride

Member Function Documentation

size_t getNumOutputs ( ) const
inlineoverridevirtual

Reimplemented from RigidBodySensor.

Eigen::VectorXd output ( const double &  t,
const KinematicsCache< double > &  rigid_body_state,
const RigidBodySystem::InputVector< double > &  u 
) const
overridevirtual

Implements RigidBodySensor.

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void setDeclination ( double  magnetic_declination)
inline

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void setNoiseModel ( std::shared_ptr< NoiseModel< double, 3, Eigen::Vector3d >>  model)
inline
The documentation for this class was generated from the following files: