wiimote_node::IMUSender Class Reference
List of all members.
Broadcasting Wiimote accelerator and gyro readings as IMU messages to Topic sensor_data/Imu
Definition at line 224 of file wiimote_node.py.
Member Function Documentation
|| freq = |
Initializes the Wiimote IMU publisher.
wiiMote: a bluetooth-connected, calibrated WIIMote instance
freq: the message sending frequency in messages/sec. Max is 100, because
the Wiimote only samples the sensors at 100Hz.
Reimplemented from wiimote_node::WiimoteDataSender.
Definition at line 227 of file wiimote_node.py.
Loop that obtains the latest wiimote state, publishes the IMU data, and sleeps.
The IMU message, if fully filled in, contains information on orientation,
acceleration (in m/s^2), and angular rate (in radians/sec). For each of
these quantities, the IMU message format also wants the corresponding
Wiimote only gives us acceleration and angular rate. So we ensure that the orientation
data entry is marked invalid. We do this by setting the first
entry of its associated covariance matrix to -1. The covariance
matrices are the 3x3 matrix with the axes' variance in the
diagonal. We obtain the variance from the Wiimote instance.
Definition at line 240 of file wiimote_node.py.
Member Data Documentation
The documentation for this class was generated from the following file: