phidgets::ImuRosI Class Reference

#include <imu_ros_i.h>

Inheritance diagram for phidgets::ImuRosI:

List of all members.

Public Member Functions
bool	calibrateService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	ImuRosI (ros::NodeHandle nh, ros::NodeHandle nh_private)
Private Types
typedef sensor_msgs::Imu	ImuMsg
typedef geometry_msgs::Vector3Stamped	MagMsg
Private Member Functions
void	attachHandler ()
void	calibrate ()
void	dataHandler (CPhidgetSpatial_SpatialEventDataHandle *data, int count)
void	detachHandler ()
void	errorHandler (int error)
void	initDevice ()
void	phidgetsDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Main diagnostic method that takes care of collecting diagnostic data.
void	processImuData (CPhidgetSpatial_SpatialEventDataHandle *data, int i)
Private Attributes
double	angular_velocity_stdev_
ros::Publisher	cal_publisher_
ros::ServiceServer	cal_srv_
double	cc_gain0_
double	cc_gain1_
double	cc_gain2_
double	cc_mag_field_
double	cc_offset0_
double	cc_offset1_
double	cc_offset2_
double	cc_T0_
double	cc_T1_
double	cc_T2_
double	cc_T3_
double	cc_T4_
double	cc_T5_
diagnostic_updater::Updater	diag_updater_
	updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics
int	error_number_
std::string	frame_id_
ImuMsg	imu_msg_
ros::Publisher	imu_publisher_
boost::shared_ptr < diagnostic_updater::TopicDiagnostic >	imu_publisher_diag_ptr_
bool	initialized_
bool	is_connected_
ros::Time	last_imu_time_
double	linear_acceleration_stdev_
ros::Publisher	mag_publisher_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
int	period_
double	target_publish_freq_
ros::Time	time_zero_

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Detailed Description

Definition at line 23 of file imu_ros_i.h.

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Member Typedef Documentation

typedef sensor_msgs::Imu phidgets::ImuRosI::ImuMsg [private]

Definition at line 25 of file imu_ros_i.h.

typedef geometry_msgs::Vector3Stamped phidgets::ImuRosI::MagMsg [private]

Definition at line 26 of file imu_ros_i.h.

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Constructor & Destructor Documentation

phidgets::ImuRosI::ImuRosI	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 6 of file imu_ros_i.cpp.

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Member Function Documentation

void phidgets::ImuRosI::attachHandler

(

)

[private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 249 of file imu_ros_i.cpp.

void phidgets::ImuRosI::calibrate

(

)

[private]

Definition at line 157 of file imu_ros_i.cpp.

bool phidgets::ImuRosI::calibrateService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 150 of file imu_ros_i.cpp.

void phidgets::ImuRosI::dataHandler	(	CPhidgetSpatial_SpatialEventDataHandle *	data,
		int	count
	)		[private, virtual]

Reimplemented from phidgets::Imu.

Definition at line 243 of file imu_ros_i.cpp.

void phidgets::ImuRosI::detachHandler

(

)

[private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 261 of file imu_ros_i.cpp.

void phidgets::ImuRosI::errorHandler

(

int

error

)

[private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 268 of file imu_ros_i.cpp.

void phidgets::ImuRosI::initDevice

(

)

[private]

Definition at line 124 of file imu_ros_i.cpp.

void phidgets::ImuRosI::phidgetsDiagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[private]

Main diagnostic method that takes care of collecting diagnostic data.

Parameters:

stat	The stat param is what is the diagnostic tasks are added two. Internally published by the diagnostic_updater package. Added for diagnostics

Definition at line 275 of file imu_ros_i.cpp.

void phidgets::ImuRosI::processImuData	(	CPhidgetSpatial_SpatialEventDataHandle *	data,
		int	i
	)		[private]

Definition at line 171 of file imu_ros_i.cpp.

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Member Data Documentation

double phidgets::ImuRosI::angular_velocity_stdev_ [private]

Definition at line 67 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::cal_publisher_ [private]

Definition at line 41 of file imu_ros_i.h.

ros::ServiceServer phidgets::ImuRosI::cal_srv_ [private]

Definition at line 42 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain0_ [private]

Definition at line 75 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain1_ [private]

Definition at line 76 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain2_ [private]

Definition at line 77 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_mag_field_ [private]

Definition at line 71 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset0_ [private]

Definition at line 72 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset1_ [private]

Definition at line 73 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset2_ [private]

Definition at line 74 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T0_ [private]

Definition at line 78 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T1_ [private]

Definition at line 79 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T2_ [private]

Definition at line 80 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T3_ [private]

Definition at line 81 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T4_ [private]

Definition at line 82 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T5_ [private]

Definition at line 83 of file imu_ros_i.h.

diagnostic_updater::Updater phidgets::ImuRosI::diag_updater_ [private]

updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics

Definition at line 46 of file imu_ros_i.h.

int phidgets::ImuRosI::error_number_ [private]

Definition at line 51 of file imu_ros_i.h.

std::string phidgets::ImuRosI::frame_id_ [private]

Definition at line 64 of file imu_ros_i.h.

ImuMsg phidgets::ImuRosI::imu_msg_ [private]

Definition at line 58 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::imu_publisher_ [private]

Definition at line 39 of file imu_ros_i.h.

boost::shared_ptr<diagnostic_updater::TopicDiagnostic> phidgets::ImuRosI::imu_publisher_diag_ptr_ [private]

Definition at line 47 of file imu_ros_i.h.

bool phidgets::ImuRosI::initialized_ [private]

Definition at line 54 of file imu_ros_i.h.

bool phidgets::ImuRosI::is_connected_ [private]

Definition at line 50 of file imu_ros_i.h.

ros::Time phidgets::ImuRosI::last_imu_time_ [private]

Definition at line 56 of file imu_ros_i.h.

double phidgets::ImuRosI::linear_acceleration_stdev_ [private]

Definition at line 68 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::mag_publisher_ [private]

Definition at line 40 of file imu_ros_i.h.

boost::mutex phidgets::ImuRosI::mutex_ [private]

Definition at line 55 of file imu_ros_i.h.

ros::NodeHandle phidgets::ImuRosI::nh_ [private]

Definition at line 37 of file imu_ros_i.h.

ros::NodeHandle phidgets::ImuRosI::nh_private_ [private]

Definition at line 38 of file imu_ros_i.h.

int phidgets::ImuRosI::period_ [private]

Definition at line 65 of file imu_ros_i.h.

double phidgets::ImuRosI::target_publish_freq_ [private]

Definition at line 52 of file imu_ros_i.h.

ros::Time phidgets::ImuRosI::time_zero_ [private]

Definition at line 60 of file imu_ros_i.h.

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

• imu_ros_i.h
• imu_ros_i.cpp