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CarlaIMUPublisher.h
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1// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
2// This work is licensed under the terms of the MIT license.
3// For a copy, see <https://opensource.org/licenses/MIT>.
4
5#pragma once
6#define _GLIBCXX_USE_CXX11_ABI 0
7
8#include <memory>
9
10#include "CarlaPublisher.h"
11
12namespace carla {
13namespace ros2 {
14
15 struct CarlaIMUPublisherImpl;
16
18 public:
19 CarlaIMUPublisher(const char* ros_name = "", const char* parent = "");
25
26 bool Init();
27 bool Publish();
28 void SetData(int32_t seconds, uint32_t nanoseconds, float* accelerometer, float* gyroscope, float compass);
29 const char* type() const override { return "inertial measurement unit"; }
30
31 private:
32 std::shared_ptr<CarlaIMUPublisherImpl> _impl;
33 };
34}
35}
CarlaIMUPublisher(const char *ros_name="", const char *parent="")
std::shared_ptr< CarlaIMUPublisherImpl > _impl
void SetData(int32_t seconds, uint32_t nanoseconds, float *accelerometer, float *gyroscope, float compass)
CarlaIMUPublisher & operator=(const CarlaIMUPublisher &)
const char * type() const override
const std::string & parent() const
This file contains definitions of common data structures used in traffic manager.
Definition Carla.cpp:133