Class ImuConverter

Defined in File ImuConverter.hpp

Inheritance Relationships

Base Type

public depthai_bridge::BaseConverter (Class BaseConverter)

Class Documentation

class ImuConverter : public depthai_bridge::BaseConverter 

Public Functions

explicit ImuConverter(const std::string &frameName, ImuSyncMethod syncMode = ImuSyncMethod::COPY, 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)

~ImuConverter()

void toRosMsg(std::shared_ptr<dai::IMUData> inData, std::deque<ImuMsgs::Imu> &outImuMsgs)

void toRosDaiMsg(std::shared_ptr<dai::IMUData> inData, std::deque<depthai_ros_msgs::msg::ImuWithMagneticField> &outImuMsgs)

template<typename T> inline T lerp(const T &a, const T &b, const double t)

template<typename T> inline T lerpImu(const T &a, const T &b, const double t)