imu_tools::ComplementaryFilterROS Class Reference

#include <complementary_filter_ros.h>

List of all members.

Public Member Functions
	ComplementaryFilterROS (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
virtual	~ComplementaryFilterROS ()
Private Types
typedef sensor_msgs::Imu	ImuMsg
typedef message_filters::Subscriber < ImuMsg >	ImuSubscriber
typedef sensor_msgs::MagneticField	MagMsg
typedef message_filters::Subscriber < MagMsg >	MagSubscriber
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Imu, MagMsg >	MySyncPolicy
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime < ImuMsg, MagMsg >	SyncPolicy
Private Member Functions
tf::Quaternion	hamiltonToTFQuaternion (double q0, double q1, double q2, double q3) const
void	imuCallback (const ImuMsg::ConstPtr &imu_msg_raw)
void	imuMagCallback (const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void	initializeParams ()
void	publish (const sensor_msgs::Imu::ConstPtr &imu_msg_raw)
Private Attributes
double	constant_dt_
ComplementaryFilter	filter_
std::string	fixed_frame_
ros::Publisher	imu_publisher_
boost::shared_ptr< ImuSubscriber >	imu_subscriber_
bool	initialized_filter_
boost::shared_ptr< MagSubscriber >	mag_subscriber_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
bool	publish_debug_topics_
bool	publish_tf_
bool	reverse_tf_
ros::Publisher	rpy_publisher_
ros::Publisher	state_publisher_
boost::shared_ptr< Synchronizer >	sync_
tf::TransformBroadcaster	tf_broadcaster_
ros::Time	time_prev_
bool	use_mag_

---

Detailed Description

Definition at line 49 of file complementary_filter_ros.h.

---

Member Typedef Documentation

typedef sensor_msgs::Imu imu_tools::ComplementaryFilterROS::ImuMsg [private]

Definition at line 59 of file complementary_filter_ros.h.

typedef message_filters::Subscriber<ImuMsg> imu_tools::ComplementaryFilterROS::ImuSubscriber [private]

Definition at line 66 of file complementary_filter_ros.h.

typedef sensor_msgs::MagneticField imu_tools::ComplementaryFilterROS::MagMsg [private]

Definition at line 60 of file complementary_filter_ros.h.

typedef message_filters::Subscriber<MagMsg> imu_tools::ComplementaryFilterROS::MagSubscriber [private]

Definition at line 67 of file complementary_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Imu, MagMsg> imu_tools::ComplementaryFilterROS::MySyncPolicy [private]

Definition at line 62 of file complementary_filter_ros.h.

typedef message_filters::Synchronizer<SyncPolicy> imu_tools::ComplementaryFilterROS::Synchronizer [private]

Definition at line 65 of file complementary_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> imu_tools::ComplementaryFilterROS::SyncPolicy [private]

Definition at line 64 of file complementary_filter_ros.h.

---

Constructor & Destructor Documentation

imu_tools::ComplementaryFilterROS::ComplementaryFilterROS	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Definition at line 39 of file complementary_filter_ros.cpp.

imu_tools::ComplementaryFilterROS::~ComplementaryFilterROS

(

)

[virtual]

Definition at line 86 of file complementary_filter_ros.cpp.

---

Member Function Documentation

tf::Quaternion imu_tools::ComplementaryFilterROS::hamiltonToTFQuaternion	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)		const [private]

Definition at line 212 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::imuCallback

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 148 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::imuMagCallback	(	const ImuMsg::ConstPtr &	imu_msg_raw,
		const MagMsg::ConstPtr &	mav_msg
	)		[private]

Definition at line 178 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::initializeParams

(

)

[private]

Definition at line 91 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::publish

(

const sensor_msgs::Imu::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 220 of file complementary_filter_ros.cpp.

---

Member Data Documentation

double imu_tools::ComplementaryFilterROS::constant_dt_ [private]

Definition at line 86 of file complementary_filter_ros.h.

ComplementaryFilter imu_tools::ComplementaryFilterROS::filter_ [private]

Definition at line 91 of file complementary_filter_ros.h.

std::string imu_tools::ComplementaryFilterROS::fixed_frame_ [private]

Definition at line 88 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::imu_publisher_ [private]

Definition at line 77 of file complementary_filter_ros.h.

boost::shared_ptr<ImuSubscriber> imu_tools::ComplementaryFilterROS::imu_subscriber_ [private]

Definition at line 74 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::initialized_filter_ [private]

Definition at line 93 of file complementary_filter_ros.h.

boost::shared_ptr<MagSubscriber> imu_tools::ComplementaryFilterROS::mag_subscriber_ [private]

Definition at line 75 of file complementary_filter_ros.h.

ros::NodeHandle imu_tools::ComplementaryFilterROS::nh_ [private]

Definition at line 70 of file complementary_filter_ros.h.

ros::NodeHandle imu_tools::ComplementaryFilterROS::nh_private_ [private]

Definition at line 71 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::publish_debug_topics_ [private]

Definition at line 87 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::publish_tf_ [private]

Definition at line 84 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::reverse_tf_ [private]

Definition at line 85 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::rpy_publisher_ [private]

Definition at line 78 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::state_publisher_ [private]

Definition at line 79 of file complementary_filter_ros.h.

boost::shared_ptr<Synchronizer> imu_tools::ComplementaryFilterROS::sync_ [private]

Definition at line 73 of file complementary_filter_ros.h.

tf::TransformBroadcaster imu_tools::ComplementaryFilterROS::tf_broadcaster_ [private]

Definition at line 80 of file complementary_filter_ros.h.

ros::Time imu_tools::ComplementaryFilterROS::time_prev_ [private]

Definition at line 92 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::use_mag_ [private]

Definition at line 83 of file complementary_filter_ros.h.

---

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

• complementary_filter_ros.h
• complementary_filter_ros.cpp