rm_common::ImuFilterBase Class Reference

#include <imu_filter_base.h>

Inheritance diagram for rm_common::ImuFilterBase:

Public Member Functions
bool	init (XmlRpc::XmlRpcValue &imu_data, const std::string &name)
void	update (ros::Time time, double *accel, double *omega, double *ori, double *accel_cov, double *omega_cov, double *ori_cov, double temp, bool camera_trigger)
virtual void	getOrientation (double &q0, double &q1, double &q2, double &q3)=0

Protected Member Functions
virtual bool	initFilter (XmlRpc::XmlRpcValue &imu_data)=0
virtual void	resetFilter ()=0
virtual void	filterUpdate (double ax, double ay, double az, double wx, double wy, double wz, double dt)=0

Protected Attributes
ros::Time	last_update_
bool	initialized_filter_ { false }
std::string	frame_id_
ros::Publisher	imu_data_pub_
ros::Publisher	imu_temp_pub_
ros::Publisher	trigger_time_pub_
sensor_msgs::Imu	imu_pub_data_
sensor_msgs::Temperature	temp_pub_data_
sensor_msgs::TimeReference	trigger_time_pub_data_

Member Function Documentation

filterUpdate()

virtual void rm_common::ImuFilterBase::filterUpdate ( double ax, double ay, double az, double wx, double wy, double wz, double dt )

protectedpure virtual

getOrientation()

virtual void rm_common::ImuFilterBase::getOrientation ( double & q0, double & q1, double & q2, double & q3 )

pure virtual

Implemented in rm_common::ImuComplementaryFilter.

init()

bool rm_common::ImuFilterBase::init	(	XmlRpc::XmlRpcValue &	imu_data,
		const std::string &	name )

initFilter()

virtual bool rm_common::ImuFilterBase::initFilter ( XmlRpc::XmlRpcValue & imu_data )

protectedpure virtual

resetFilter()

virtual void rm_common::ImuFilterBase::resetFilter ( )

protectedpure virtual

update()

void rm_common::ImuFilterBase::update	(	ros::Time	time,
		double *	accel,
		double *	omega,
		double *	ori,
		double *	accel_cov,
		double *	omega_cov,
		double *	ori_cov,
		double	temp,
		bool	camera_trigger )

Member Data Documentation

frame_id_

std::string rm_common::ImuFilterBase::frame_id_

protected

imu_data_pub_

ros::Publisher rm_common::ImuFilterBase::imu_data_pub_

protected

imu_pub_data_

sensor_msgs::Imu rm_common::ImuFilterBase::imu_pub_data_

protected

imu_temp_pub_

ros::Publisher rm_common::ImuFilterBase::imu_temp_pub_

protected

initialized_filter_

bool rm_common::ImuFilterBase::initialized_filter_ { false }

protected

last_update_

ros::Time rm_common::ImuFilterBase::last_update_

protected

temp_pub_data_

sensor_msgs::Temperature rm_common::ImuFilterBase::temp_pub_data_

protected

trigger_time_pub_

ros::Publisher rm_common::ImuFilterBase::trigger_time_pub_

protected

trigger_time_pub_data_

sensor_msgs::TimeReference rm_common::ImuFilterBase::trigger_time_pub_data_

protected

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The documentation for this class was generated from the following files:

• rm_common/include/rm_common/filters/imu_filter_base.h
• rm_common/src/filter/imu_filter_base.cpp