ImuSensor#

Fully qualified name: isaacsim::sensors::physics::ImuSensor

class ImuSensor : public isaacsim::sensors::physics::IsaacSensorComponentBase<PrimType>#

Implementation of an Inertial Measurement Unit (IMU) sensor component.

This class provides functionality for simulating an IMU sensor in the Isaac environment. It handles acceleration, angular velocity, and orientation measurements, with support for raw data buffering and interpolation. The sensor supports configurable filtering for various measurements and maintains a history of readings for signal processing.

Public Functions

inline ImuSensor()#

Default constructor for the IMU sensor.

Initializes the raw data buffer and resets the sensor to its initial state

void initialize(
std::vector<float> *rigidBodyDataBuffer,
size_t &m_dataBufferIndex,
)#

Initializes the IMU sensor with a data buffer.

Parameters:

  • rigidBodyDataBuffer – [in] Pointer to the buffer storing rigid body data

  • m_dataBufferIndex – [inout] Reference to the current buffer index

virtual ~ImuSensor()#

Virtual destructor for proper cleanup.

IsReading getSensorReading(
const std::function<IsReading(std::vector<IsReading>, float)> &interpolateFunction = nullptr,
const bool &getLatestValue = false,
const bool &readGravity = true,
)#

Retrieves the current sensor reading with optional interpolation.

Parameters:

  • interpolateFunction – [in] Optional function for interpolating between readings

  • getLatestValue – [in] Whether to return the most recent value without interpolation

  • readGravity – [in] Whether to include gravity in the acceleration readings

Returns:

The current IMU sensor reading

void reset()#

Resets the sensor to its initial state.

Clears all buffers and resets internal state variables to their default values

virtual void onPhysicsStep()#

Called by component manager tick to update sensor data.

Processes finite difference data in mRawReadingList and saves in m_readingPair

inline virtual void tick()#

Empty tick implementation as processing is done in onPhysicsStep.

bool findValidParent()#

Searches for and validates the parent rigid body for the IMU sensor.

Returns:

True if a valid parent is found, false otherwise

virtual void onComponentChange()#

Handles component property changes.

Updates sensor configuration when properties are modified through the interface

virtual void onStop()#

Called when simulation is stopped.

The virtual onStop will clear everything on stop

void printIsReading(const IsReading &reading)#

Utility function to print IMU sensor reading data for debugging.

Parameters:

reading – [in] The sensor reading to print

inline virtual void initialize(
const PrimType &prim,
const pxr::UsdStageWeakPtr stage,
)#

Initializes the sensor component.

Sets up the sensor component with its USD prim and stage references.

Parameters:

  • prim – [in] USD prim representing the sensor.

  • stage – [in] USD stage containing the prim.

inline virtual void onStart()#

Called when the sensor starts.

Handles sensor initialization when the component is started. Triggers onComponentChange to ensure proper initial state.

inline virtual void preTick()#

Called before each tick to prepare sensor state.

Provides an opportunity to prepare the sensor state before the main tick update. Default implementation does nothing.

inline virtual void onPhysicsStep(float dt)#

Called during each physics simulation step.

Override this to implement physics-based behavior

Parameters:

dt – [in] Time step size in seconds

inline pxr::UsdPrim getParentPrim()#

Gets the parent prim of the sensor.

Retrieves the USD prim that is the parent of this sensor.

Returns:

USD prim that is the parent of this sensor.

inline virtual void onRenderEvent()#

Called for each rendered frame.

Override this to implement render-specific behavior or visual updates

inline virtual void updateTimestamp(
double timeSeconds,
double dt,
int64_t timeNano,
)#

Updates the component’s internal timing information.

Maintains synchronized timing state across the component

Parameters:

  • timeSeconds – [in] Current simulation time in seconds

  • dt – [in] Time step size in seconds

  • timeNano – [in] Current simulation time in nanoseconds

inline PrimType &getPrim()#

Retrieves the component’s USD prim.

Returns:

Reference to the component’s USD prim

inline bool getEnabled()#

Checks if the component is enabled.

Returns:

true if the component is enabled, false otherwise

inline uint64_t getSequenceNumber()#

Gets the component’s sequence number.

Returns:

The component’s sequence number

Public Members

bool mDoStart = true#

Flag indicating whether onStart should be called.

Protected Attributes

pxr::UsdPrim m_parentPrim#

USD prim that is the parent of this sensor.

Stores a reference to the parent USD prim that contains this sensor.

PrimType m_prim#

USD prim reference storing component settings.

pxr::UsdStageWeakPtr m_stage = nullptr#

Weak pointer to the USD stage containing the prim.

usdrt::UsdStageRefPtr m_usdrtStage = nullptr#

Runtime USD stage reference.

double m_timeSeconds = 0#

Current simulation time in seconds.

int64_t m_timeNanoSeconds = 0#

Current simulation time in nanoseconds.

double m_timeDelta = 0#

Time delta for current tick in seconds.

uint64_t m_sequenceNumber = 0#

Component sequence number for ordering/identification.

bool m_enabled = true#

Component enabled state flag.