ImuSensorImpl#
Fully qualified name: isaacsim::sensors::experimental::physics::ImuSensorImpl
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class ImuSensorImpl : public isaacsim::sensors::experimental::physics::IImuSensor#
Public Functions
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ImuSensorImpl()#
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~ImuSensorImpl()#
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virtual void shutdown() override#
Shut down the manager, destroying all sensors and freeing resources.
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virtual int64_t createSensor(const char *primPath) override#
Create an IMU sensor for the given IsaacImuSensor prim.
Finds the parent rigid body by walking up the prim hierarchy and creates an IRigidBodyDataView for velocity data.
- Parameters:
primPath – USD path to the IsaacImuSensor prim.
- Returns:
Unique sensor ID (>= 0), or -1 on failure.
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virtual void removeSensor(int64_t sensorId) override#
Remove a sensor and free its resources.
- Parameters:
sensorId – ID returned by createSensor().
- virtual ImuSensorReading getSensorReading(
- int64_t sensorId,
- bool readGravity,
Get the latest reading for a sensor.
- Parameters:
sensorId – ID returned by createSensor().
readGravity – If true, include gravity in acceleration output.
- Returns:
Sensor reading. isValid is false if sensor is disabled or not found.
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ImuSensorImpl()#