Functions
static void	angularRateFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Vector3d &v)
	retrieve the angular rate from an IMU message
static void	eigenPose2Msg (const Eigen::Affine3d &pose, geometry_msgs::PoseStamped &msg)
	Eigen::Affine3d to geometry_msgs::PoseStamped.
static void	linearAccelerationFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Vector3d &v)
	retrieve the linear acceleration from an IMU message
template<typename T , size_t r, size_t c>
static void	matrixPtrToEigen (const boost::array< T, r *c > &matPtr, Eigen::Matrix< T, r, c > &mat)
	convert from boost array to eigen matrix
static void	quaternionFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Quaterniond &q)
	retrieve the quaternion from an IMU message
static void	quaternionToMsg (const Eigen::Quaterniond &q, geometry_msgs::Quaternion &msg)
	convert Eigen Quaternion to geometry_msgs::Quaternion
static void	vec3ToMsg (const Eigen::Vector3d &v, geometry_msgs::Vector3 &msg)
	Eigen::Vector3d to geometry_msgs::Vector3.

Function Documentation

static void imu_filter::message_helper::angularRateFromImuMsg	(	const sensor_msgs::Imu::ConstPtr &	msg,
		Eigen::Vector3d &	v
	)		`[inline, static]`

retrieve the angular rate from an IMU message

Definition at line 78 of file message_helper.h.

static void imu_filter::message_helper::eigenPose2Msg	(	const Eigen::Affine3d &	pose,
		geometry_msgs::PoseStamped &	msg
	)		`[inline, static]`

Eigen::Affine3d to geometry_msgs::PoseStamped.

Definition at line 119 of file message_helper.h.

static void imu_filter::message_helper::linearAccelerationFromImuMsg	(	const sensor_msgs::Imu::ConstPtr &	msg,
		Eigen::Vector3d &	v
	)		`[inline, static]`

retrieve the linear acceleration from an IMU message

Definition at line 88 of file message_helper.h.

template<typename T , size_t r, size_t c>

static void imu_filter::message_helper::matrixPtrToEigen	(	const boost::array< T, r *c > &	matPtr,
		Eigen::Matrix< T, r, c > &	mat
	)		`[inline, static]`

convert from boost array to eigen matrix

Definition at line 57 of file message_helper.h.

static void imu_filter::message_helper::quaternionFromImuMsg	(	const sensor_msgs::Imu::ConstPtr &	msg,
		Eigen::Quaterniond &	q
	)		`[inline, static]`

retrieve the quaternion from an IMU message

Definition at line 67 of file message_helper.h.

static void imu_filter::message_helper::quaternionToMsg	(	const Eigen::Quaterniond &	q,
		geometry_msgs::Quaternion &	msg
	)		`[inline, static]`

convert Eigen Quaternion to geometry_msgs::Quaternion

Definition at line 98 of file message_helper.h.

static void imu_filter::message_helper::vec3ToMsg	(	const Eigen::Vector3d &	v,
		geometry_msgs::Vector3 &	msg
	)		`[inline, static]`

Eigen::Vector3d to geometry_msgs::Vector3.

Definition at line 109 of file message_helper.h.

Functions