DMU11 Class Reference

#include <DMU11.h>

Public Member Functions
int16_t	big_endian_to_short (unsigned char *data)
	change big endian 2 byte into short More...
void	closePort ()
	Close the device. More...
	DMU11 (ros::NodeHandle &nh)
	Constructor. More...
void	doParsing (int16_t *int16buff)
	Gets the raw data and converts them to standard ROS IMU message. More...
int	openPort ()
	Open device. More...
float	short_to_float (int16_t *data)
	change big endian short into float More...
void	update ()
	Read the data received on serial port. More...
virtual	~DMU11 ()

Public Attributes
sensor_msgs::Imu	imu_raw_
double	pitch_ = 0
double	rate_
double	roll_ = 0
double	yaw_ = 0

Private Attributes
struct termios	defaults_
std::string	device_
ros::Publisher	dmu_raw_publisher_
int	file_descriptor_
std::string	frame_id_
const double	g_ = 9.80665
int16_t	header_ = 0x55aa
ros::Publisher	imu_publisher_
dmu_ros::DMURaw	raw_package_

Detailed Description

Definition at line 21 of file DMU11.h.

Constructor & Destructor Documentation

DMU11::DMU11

(

ros::NodeHandle &

nh

)

Constructor.

Parameters

nh

Definition at line 8 of file DMU11.cpp.

DMU11::~DMU11 ( )

virtual

Definition at line 263 of file DMU11.cpp.

Member Function Documentation

int16_t DMU11::big_endian_to_short

(

unsigned char *

data

)

change big endian 2 byte into short

Parameters

data	Head pointer to the data converted value

Definition at line 191 of file DMU11.cpp.

void DMU11::closePort

(

)

Close the device.

Definition at line 174 of file DMU11.cpp.

void DMU11::doParsing

(

int16_t *

int16buff

)

Gets the raw data and converts them to standard ROS IMU message.

Parameters

int16buff

Definition at line 203 of file DMU11.cpp.

int DMU11::openPort

(

)

Open device.

Return values

0	Success
-1	Failure

Definition at line 30 of file DMU11.cpp.

float DMU11::short_to_float

(

int16_t *

data

)

change big endian short into float

Parameters

data	Head pointer to the data converted value

Definition at line 197 of file DMU11.cpp.

void DMU11::update

(

)

Read the data received on serial port.

Definition at line 128 of file DMU11.cpp.

Member Data Documentation

struct termios DMU11::defaults_

private

Definition at line 34 of file DMU11.h.

std::string DMU11::device_

private

Definition at line 25 of file DMU11.h.

ros::Publisher DMU11::dmu_raw_publisher_

private

Definition at line 24 of file DMU11.h.

int DMU11::file_descriptor_

private

Definition at line 33 of file DMU11.h.

std::string DMU11::frame_id_

private

Definition at line 26 of file DMU11.h.

const double DMU11::g_ = 9.80665

private

Definition at line 31 of file DMU11.h.

int16_t DMU11::header_ = 0x55aa

private

Definition at line 32 of file DMU11.h.

ros::Publisher DMU11::imu_publisher_

private

Definition at line 23 of file DMU11.h.

sensor_msgs::Imu DMU11::imu_raw_

Definition at line 38 of file DMU11.h.

double DMU11::pitch_ = 0

Definition at line 43 of file DMU11.h.

double DMU11::rate_

Definition at line 39 of file DMU11.h.

dmu_ros::DMURaw DMU11::raw_package_

private

Definition at line 28 of file DMU11.h.

double DMU11::roll_ = 0

Definition at line 42 of file DMU11.h.

double DMU11::yaw_ = 0

Definition at line 44 of file DMU11.h.

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

• DMU11.h
• DMU11.cpp