写一段根据imu传感器读数来控制gazebo中立方体运动的程序的C++代码

以下是根据IMU传感器读数来控制Gazebo中立方体运动的C代码示例：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>

namespace gazebo
{
    class ImuPlugin : public ModelPlugin
    {
        private: 
            physics::ModelPtr model;
            physics::LinkPtr link;
            event::ConnectionPtr updateConnection;
            math::Vector3 angularVelocity;

        public:
            void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
            {
                // Save pointers to the model and link
                this->model = _parent;
                this->link = model->GetLink("link_name");

                // Connect the update function to the simulation
                this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&ImuPlugin::OnUpdate, this, _1));

                // Set initial angular velocity
                this->angularVelocity = math::Vector3(0, 0, 0);
            }

            void OnUpdate(const common::UpdateInfo &_info)
            {
                // Read IMU sensor data
                math::Quaternion orientation = this->link->GetWorldPose().rot;
                math::Vector3 angularVelocity = this->link->GetRelativeAngularVel();

                // Control the cube's movement based on the IMU data
                double roll, pitch, yaw;
                orientation.GetAsEuler(roll, pitch, yaw);

                double x_vel = -sin(yaw) * angularVelocity.y;
                double y_vel = sin(roll) * cos(yaw) * angularVelocity.x + sin(pitch) * sin(yaw) * angularVelocity.y;
                double z_vel = -cos(roll) * cos(yaw) * angularVelocity.x - sin(pitch) * cos(yaw) * angularVelocity.y;

                // Apply the velocities to the cube's linear and angular velocity
                this->link->AddRelativeForce(math::Vector3(x_vel, y_vel, z_vel));
                this->link->AddRelativeTorque(math::Vector3(0, 0, 0.1));
            }
    };

    GZ_REGISTER_MODEL_PLUGIN(ImuPlugin)
}

在这个示例中，我们创建了一个名为ImuPlugin的模型插件。在插件的Load()函数中，我们保存了模型和链接的指针，并将插件的更新函数与模拟连接。在更新函数OnUpdate()中，我们读取了IMU传感器数据，计算出立方体的线速度和角速度，并应用这些速度来控制立方体的运动。最后，我们在插件的最后注册了该插件。

请注意，此代码仅供参考，并不保证可以直接运行。为使该程序在您的机器上正常运行，您可能需要根据您的实际情况进行修改，并正确地链接Gazebo和相关库。