ImuNode Class Reference

List of all members.

Public Member Functions
bool	addOffset (microstrain_3dmgx2_imu::AddOffset::Request &req, microstrain_3dmgx2_imu::AddOffset::Response &resp)
bool	calibrate (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	calibrationStatus (diagnostic_updater::DiagnosticStatusWrapper &status)
void	clearErrorStatus ()
void	ConnectTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	deviceStatus (diagnostic_updater::DiagnosticStatusWrapper &status)
void	DisconnectTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	doCalibrate ()
void	getData (sensor_msgs::Imu &data)
std::string	getID (bool output_info=false)
void	GravityTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	GyroBiasTest (diagnostic_updater::DiagnosticStatusWrapper &status)
	ImuNode (ros::NodeHandle h)
void	InterruptionTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	pretest (diagnostic_updater::DiagnosticStatusWrapper &status)
int	publish_datum ()
void	publish_is_calibrated ()
void	ReadIDTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	ResumeTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	setErrorStatus (const std::string msg)
void	setErrorStatusf (const char *format,...)
bool	spin ()
int	start ()
int	stop ()
void	StreamedDataTest (diagnostic_updater::DiagnosticStatusWrapper &status)
	~ImuNode ()
Public Attributes
ros::ServiceServer	add_offset_serv_
double	angular_velocity_covariance_
double	angular_velocity_stdev_
bool	autocalibrate_
double	bias_x_
double	bias_y_
double	bias_z_
bool	calibrate_requested_
ros::ServiceServer	calibrate_serv_
bool	calibrated_
microstrain_3dmgx2_imu::IMU::cmd	cmd
double	desired_freq_
diagnostic_updater::Updater	diagnostic_
int	error_count_
std::string	error_status_
string	frameid_
diagnostic_updater::FrequencyStatus	freq_diag_
microstrain_3dmgx2_imu::IMU	imu
ros::Publisher	imu_data_pub_
ros::Publisher	is_calibrated_pub_
double	linear_acceleration_covariance_
double	linear_acceleration_stdev_
double	max_drift_rate_
ros::NodeHandle	node_handle_
double	offset_
double	orientation_covariance_
double	orientation_stdev_
string	port
ros::NodeHandle	private_node_handle_
sensor_msgs::Imu	reading
bool	running
self_test::TestRunner	self_test_
int	slow_count_
std::string	was_slow_

---

Detailed Description

Definition at line 61 of file imu_node.cc.

---

Constructor & Destructor Documentation

ImuNode::ImuNode

(

ros::NodeHandle

h

)

[inline]

Definition at line 109 of file imu_node.cc.

ImuNode::~ImuNode

(

)

[inline]

Definition at line 177 of file imu_node.cc.

---

Member Function Documentation

bool ImuNode::addOffset	(	microstrain_3dmgx2_imu::AddOffset::Request &	req,
		microstrain_3dmgx2_imu::AddOffset::Response &	resp
	)			[inline]

Definition at line 594 of file imu_node.cc.

bool ImuNode::calibrate	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)			[inline]

Definition at line 614 of file imu_node.cc.

void ImuNode::calibrationStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 578 of file imu_node.cc.

void ImuNode::clearErrorStatus

(

)

[inline]

Definition at line 207 of file imu_node.cc.

void ImuNode::ConnectTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 407 of file imu_node.cc.

void ImuNode::deviceStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 560 of file imu_node.cc.

void ImuNode::DisconnectTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 535 of file imu_node.cc.

void ImuNode::doCalibrate

(

)

[inline]

Definition at line 646 of file imu_node.cc.

void ImuNode::getData

(

sensor_msgs::Imu &

data

)

[inline]

Definition at line 433 of file imu_node.cc.

std::string ImuNode::getID

(

bool

output_info = false

)

[inline]

Definition at line 263 of file imu_node.cc.

void ImuNode::GravityTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 485 of file imu_node.cc.

void ImuNode::GyroBiasTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 421 of file imu_node.cc.

void ImuNode::InterruptionTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 399 of file imu_node.cc.

void ImuNode::pretest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 387 of file imu_node.cc.

int ImuNode::publish_datum

(

)

[inline]

Definition at line 309 of file imu_node.cc.

void ImuNode::publish_is_calibrated

(

)

[inline]

Definition at line 380 of file imu_node.cc.

void ImuNode::ReadIDTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 414 of file imu_node.cc.

void ImuNode::ResumeTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 542 of file imu_node.cc.

void ImuNode::setErrorStatus

(

const std::string

msg

)

[inline]

Definition at line 194 of file imu_node.cc.

void ImuNode::setErrorStatusf	(	const char *	format,
			...
	)			[inline]

Definition at line 182 of file imu_node.cc.

bool ImuNode::spin

(

)

[inline]

Definition at line 353 of file imu_node.cc.

int ImuNode::start

(

)

[inline]

Definition at line 212 of file imu_node.cc.

int ImuNode::stop

(

)

[inline]

Definition at line 292 of file imu_node.cc.

void ImuNode::StreamedDataTest

(

diagnostic_updater::DiagnosticStatusWrapper &

status

)

[inline]

Definition at line 463 of file imu_node.cc.

---

Member Data Documentation

ros::ServiceServer ImuNode::add_offset_serv_

Definition at line 77 of file imu_node.cc.

double ImuNode::angular_velocity_covariance_

Definition at line 100 of file imu_node.cc.

double ImuNode::angular_velocity_stdev_

Definition at line 100 of file imu_node.cc.

bool ImuNode::autocalibrate_

Definition at line 83 of file imu_node.cc.

double ImuNode::bias_x_

Definition at line 96 of file imu_node.cc.

double ImuNode::bias_y_

Definition at line 97 of file imu_node.cc.

double ImuNode::bias_z_

Definition at line 98 of file imu_node.cc.

bool ImuNode::calibrate_requested_

Definition at line 84 of file imu_node.cc.

ros::ServiceServer ImuNode::calibrate_serv_

Definition at line 78 of file imu_node.cc.

bool ImuNode::calibrated_

Definition at line 85 of file imu_node.cc.

microstrain_3dmgx2_imu::IMU::cmd ImuNode::cmd

Definition at line 69 of file imu_node.cc.

double ImuNode::desired_freq_

Definition at line 106 of file imu_node.cc.

diagnostic_updater::Updater ImuNode::diagnostic_

Definition at line 72 of file imu_node.cc.

int ImuNode::error_count_

Definition at line 87 of file imu_node.cc.

std::string ImuNode::error_status_

Definition at line 90 of file imu_node.cc.

string ImuNode::frameid_

Definition at line 92 of file imu_node.cc.

diagnostic_updater::FrequencyStatus ImuNode::freq_diag_

Definition at line 107 of file imu_node.cc.

microstrain_3dmgx2_imu::IMU ImuNode::imu

Definition at line 64 of file imu_node.cc.

ros::Publisher ImuNode::imu_data_pub_

Definition at line 76 of file imu_node.cc.

ros::Publisher ImuNode::is_calibrated_pub_

Definition at line 79 of file imu_node.cc.

double ImuNode::linear_acceleration_covariance_

Definition at line 101 of file imu_node.cc.

double ImuNode::linear_acceleration_stdev_

Definition at line 101 of file imu_node.cc.

double ImuNode::max_drift_rate_

Definition at line 104 of file imu_node.cc.

ros::NodeHandle ImuNode::node_handle_

Definition at line 74 of file imu_node.cc.

double ImuNode::offset_

Definition at line 94 of file imu_node.cc.

double ImuNode::orientation_covariance_

Definition at line 102 of file imu_node.cc.

double ImuNode::orientation_stdev_

Definition at line 102 of file imu_node.cc.

string ImuNode::port

Definition at line 67 of file imu_node.cc.

ros::NodeHandle ImuNode::private_node_handle_

Definition at line 75 of file imu_node.cc.

sensor_msgs::Imu ImuNode::reading

Definition at line 65 of file imu_node.cc.

bool ImuNode::running

Definition at line 81 of file imu_node.cc.

self_test::TestRunner ImuNode::self_test_

Definition at line 71 of file imu_node.cc.

int ImuNode::slow_count_

Definition at line 88 of file imu_node.cc.

std::string ImuNode::was_slow_

Definition at line 89 of file imu_node.cc.

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

• imu_node.cc