evarobot_minimu9.cpp File Reference

#include "evarobot_minimu9/evarobot_minimu9.h"
#include <dynamic_reconfigure/server.h>
#include <evarobot_minimu9/ParamsConfig.h>

Include dependency graph for evarobot_minimu9.cpp:

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Typedefs
typedef void	fuse_function (quaternion &rotation, float dt, const vector &angular_velocity, const vector &acceleration, const vector &magnetic_field)
typedef void	rotation_output_function (quaternion &rotation)
Functions
void	ahrs (IMU &imu, fuse_function *fuse, rotation_output_function *output)
void	CallbackReconfigure (evarobot_minimu9::ParamsConfig &config, uint32_t level)
void	fuse_compass_only (quaternion &rotation, float dt, const vector &angular_velocity, const vector &acceleration, const vector &magnetic_field)
void	fuse_default (quaternion &rotation, float dt, const vector &angular_velocity, const vector &acceleration, const vector &magnetic_field)
void	fuse_gyro_only (quaternion &rotation, float dt, const vector &angular_velocity, const vector &acceleration, const vector &magnetic_field)
int	main (int argc, char *argv[])
int	millis ()
std::ostream &	operator<< (std::ostream &os, const vector &vector)
std::ostream &	operator<< (std::ostream &os, const matrix &matrix)
std::ostream &	operator<< (std::ostream &os, const quaternion &quat)
void	output_euler (quaternion &rotation)
void	output_matrix (quaternion &rotation)
void	output_quaternion (quaternion &rotation)
void	ProduceDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	rotate (quaternion &rotation, const vector &w, float dt)
matrix	rotationFromCompass (const vector &acceleration, const vector &magnetic_field)
	Uses the acceleration and magnetic field readings from the compass.
void	streamRawValues (IMU &imu, int count)
Variables
bool	b_is_received_params = false
int	i_error_code = 0

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Typedef Documentation

typedef void fuse_function(quaternion &rotation, float dt, const vector &angular_velocity, const vector &acceleration, const vector &magnetic_field)

Definition at line 90 of file evarobot_minimu9.cpp.

typedef void rotation_output_function(quaternion &rotation)

Definition at line 30 of file evarobot_minimu9.cpp.

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Function Documentation

void ahrs	(	IMU &	imu,
		fuse_function *	fuse,
		rotation_output_function *	output
	)

Definition at line 144 of file evarobot_minimu9.cpp.

void CallbackReconfigure	(	evarobot_minimu9::ParamsConfig &	config,
		uint32_t	level
	)

Definition at line 185 of file evarobot_minimu9.cpp.

void fuse_compass_only	(	quaternion &	rotation,
		float	dt,
		const vector &	angular_velocity,
		const vector &	acceleration,
		const vector &	magnetic_field
	)

Definition at line 93 of file evarobot_minimu9.cpp.

void fuse_default	(	quaternion &	rotation,
		float	dt,
		const vector &	angular_velocity,
		const vector &	acceleration,
		const vector &	magnetic_field
	)

Definition at line 118 of file evarobot_minimu9.cpp.

void fuse_gyro_only	(	quaternion &	rotation,
		float	dt,
		const vector &	angular_velocity,
		const vector &	acceleration,
		const vector &	magnetic_field
	)

Definition at line 112 of file evarobot_minimu9.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 204 of file evarobot_minimu9.cpp.

int millis

(

)

Definition at line 47 of file evarobot_minimu9.cpp.

std::ostream& operator<<	(	std::ostream &	os,
		const vector &	vector
	)

Definition at line 8 of file evarobot_minimu9.cpp.

std::ostream& operator<<	(	std::ostream &	os,
		const matrix &	matrix
	)

Definition at line 15 of file evarobot_minimu9.cpp.

std::ostream& operator<<	(	std::ostream &	os,
		const quaternion &	quat
	)

Definition at line 22 of file evarobot_minimu9.cpp.

void output_euler

(

quaternion &

rotation

)

Definition at line 42 of file evarobot_minimu9.cpp.

void output_matrix

(

quaternion &

rotation

)

Definition at line 37 of file evarobot_minimu9.cpp.

void output_quaternion

(

quaternion &

rotation

)

Definition at line 32 of file evarobot_minimu9.cpp.

void ProduceDiagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

Definition at line 190 of file evarobot_minimu9.cpp.

void rotate	(	quaternion &	rotation,
		const vector &	w,
		float	dt
	)

Definition at line 104 of file evarobot_minimu9.cpp.

matrix rotationFromCompass	(	const vector &	acceleration,
		const vector &	magnetic_field
	)

Uses the acceleration and magnetic field readings from the compass.

Definition at line 73 of file evarobot_minimu9.cpp.

void streamRawValues	(	IMU &	imu,
		int	count
	)

Definition at line 54 of file evarobot_minimu9.cpp.

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Variable Documentation

bool b_is_received_params = false

Definition at line 183 of file evarobot_minimu9.cpp.

int i_error_code = 0

Definition at line 6 of file evarobot_minimu9.cpp.