OrientationFilter Class Reference

#include <orientation_filter.h>

List of all members.

Public Member Functions
	OrientationFilter ()
	Calculates the roll and pitch of the base and the pitch of the sensor tower from CARL's IMUs.
Private Member Functions
void	baseImuCallback (const sensor_msgs::Imu::ConstPtr &data)
void	topImuCallback (const sensor_msgs::Imu::ConstPtr &data)
Private Attributes
ros::Subscriber	baseImuSubscriber
bool	baseOrientationInitialized
ros::Publisher	frameJointStatePublisher
sensor_msgs::JointState	jointStates
ros::NodeHandle	n
bool	output
float	PPrev [2]
float	PPrevTop
ros::Time	prevUpdateTime
ros::Time	prevUpdateTimeTop
ros::Subscriber	topImuSubscriber

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Detailed Description

Definition at line 27 of file orientation_filter.h.

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Constructor & Destructor Documentation

OrientationFilter::OrientationFilter

(

)

Calculates the roll and pitch of the base and the pitch of the sensor tower from CARL's IMUs.

Constructor

.cpp orientation_filter creates a ROS node that measures orientations for the base and sensor tower by combining and filtering accelerometer and gyro data.

Author:

David Kent - davidkent@wpi.edu

Date:

January 13, 2015

Definition at line 14 of file orientation_filter.cpp.

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Member Function Documentation

void OrientationFilter::baseImuCallback

(

const sensor_msgs::Imu::ConstPtr &

data

)

[private]

Base IMU callback.

Parameters:

data	data from the base IMU

Definition at line 103 of file orientation_filter.cpp.

void OrientationFilter::topImuCallback

(

const sensor_msgs::Imu::ConstPtr &

data

)

[private]

Top IMU callback.

Parameters:

data	data from the top IMU

Definition at line 41 of file orientation_filter.cpp.

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Member Data Documentation

ros::Subscriber OrientationFilter::baseImuSubscriber [private]

Subscriber for data from the base IMU

Definition at line 53 of file orientation_filter.h.

bool OrientationFilter::baseOrientationInitialized [private]

Definition at line 57 of file orientation_filter.h.

ros::Publisher OrientationFilter::frameJointStatePublisher [private]

joint state publisher for various parts of CARL's frame

Definition at line 52 of file orientation_filter.h.

sensor_msgs::JointState OrientationFilter::jointStates [private]

Definition at line 56 of file orientation_filter.h.

ros::NodeHandle OrientationFilter::n [private]

Definition at line 50 of file orientation_filter.h.

bool OrientationFilter::output [private]

Definition at line 58 of file orientation_filter.h.

float OrientationFilter::PPrev[2] [private]

Definition at line 62 of file orientation_filter.h.

float OrientationFilter::PPrevTop [private]

Definition at line 61 of file orientation_filter.h.

ros::Time OrientationFilter::prevUpdateTime [private]

Definition at line 60 of file orientation_filter.h.

ros::Time OrientationFilter::prevUpdateTimeTop [private]

Definition at line 59 of file orientation_filter.h.

ros::Subscriber OrientationFilter::topImuSubscriber [private]

Subscriber for data from the top IMU

Definition at line 54 of file orientation_filter.h.

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

• orientation_filter.h
• orientation_filter.cpp