Class ImuConverter
Defined in File ImuConverter.hpp
Class Documentation
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class ImuConverter
Public Functions
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ImuConverter(const std::string &frameName, ImuSyncMethod syncMode = ImuSyncMethod::LINEAR_INTERPOLATE_ACCEL, double linear_accel_cov = 0.0, double angular_velocity_cov = 0.0, double rotation_cov = 0.0, double magnetic_field_cov = 0.0, bool enable_rotation = false, bool enable_magn = false, bool getBaseDeviceTimestamp = false)
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~ImuConverter()
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void updateRosBaseTime()
Handles cases in which the ROS time shifts forward or backward Should be called at regular intervals or on-change of ROS time, depending on monitoring.
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inline void setUpdateRosBaseTimeOnToRosMsg(bool update = true)
Commands the converter to automatically update the ROS base time on message conversion based on variable.
- Parameters:
update – bool whether to automatically update the ROS base time on message conversion
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ImuConverter(const std::string &frameName, ImuSyncMethod syncMode = ImuSyncMethod::LINEAR_INTERPOLATE_ACCEL, double linear_accel_cov = 0.0, double angular_velocity_cov = 0.0, double rotation_cov = 0.0, double magnetic_field_cov = 0.0, bool enable_rotation = false, bool enable_magn = false, bool getBaseDeviceTimestamp = false)