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src
imu_filter_nodelet.cpp
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/*
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* Copyright (C) 2010, CCNY Robotics Lab
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* Ivan Dryanovski <ivan.dryanovski@gmail.com>
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*
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* http://robotics.ccny.cuny.edu
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*
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* Based on implementation of Madgwick's IMU and AHRS algorithms.
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* http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
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*
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "
imu_filter_madgwick/imu_filter_nodelet.h
"
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#include <
pluginlib/class_list_macros.h
>
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void
ImuFilterNodelet::onInit
()
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{
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NODELET_INFO
(
"Initializing IMU Filter Nodelet"
);
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// TODO: Do we want the single threaded or multithreaded NH?
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ros::NodeHandle
nh =
getMTNodeHandle
();
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ros::NodeHandle
nh_private =
getMTPrivateNodeHandle
();
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filter_
.reset(
new
ImuFilterRos
(nh, nh_private));
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}
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PLUGINLIB_EXPORT_CLASS
(
ImuFilterNodelet
,
nodelet::Nodelet
)
ImuFilterNodelet
Definition:
imu_filter_nodelet.h:32
ros::NodeHandle
ImuFilterNodelet::onInit
virtual void onInit()
Definition:
imu_filter_nodelet.cpp:28
nodelet::Nodelet::getMTNodeHandle
ros::NodeHandle & getMTNodeHandle() const
nodelet::Nodelet::getMTPrivateNodeHandle
ros::NodeHandle & getMTPrivateNodeHandle() const
nodelet::Nodelet
ImuFilterRos
Definition:
imu_filter_ros.h:41
class_list_macros.h
NODELET_INFO
#define NODELET_INFO(...)
ImuFilterNodelet::filter_
boost::shared_ptr< ImuFilterRos > filter_
Definition:
imu_filter_nodelet.h:38
PLUGINLIB_EXPORT_CLASS
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
imu_filter_nodelet.h
imu_filter_madgwick
Author(s): Ivan Dryanovski
autogenerated on Thu Apr 15 2021 05:06:00