/home/usappz/DeadalusSim/source/gazebo_plugins/gazebo_imu_plugin.hh

#ifndef _GAZEBO_IMU_PLUGIN_HH_
#define _GAZEBO_IMU_PLUGIN_HH_

#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/sensors/sensors.hh>

namespace gazebo
{

//  typedef const boost::shared_ptr<const collision_map_creator_msgs::msgs::Imu> CollisionMapRequestPtr;

  class GazeboIMUPlugin : public SensorPlugin
  {         
    public: GazeboIMUPlugin();

    public: virtual ~GazeboIMUPlugin();

    public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    private: virtual void OnUpdate();

    private: sensors::ImuSensorPtr parentSensor;

    private: event::ConnectionPtr updateConnection;

    // Simulated acceleration (my_imu)
    private:
    double m_acc_x;
    double m_acc_y;
    double m_acc_z;
    
    // Simulated angular velocity (my_imu)
    private:
    double m_omega_x;
    double m_omega_y;
    double m_omega_z;

  };
}
#endif