Public Member Functions
bool	addOffset (microstrain_3dmgx2_imu::AddOffset::Request &req, microstrain_3dmgx2_imu::AddOffset::Response &resp)

bool	calibrate (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

void	calibrationStatus (diagnostic_updater::DiagnosticStatusWrapper &status)

void	clearErrorStatus ()

void	ConnectTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	deviceStatus (diagnostic_updater::DiagnosticStatusWrapper &status)

void	DisconnectTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	doCalibrate ()

void	getData (sensor_msgs::Imu &data)

std::string	getID (bool output_info=false)

void	GravityTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	GyroBiasTest (diagnostic_updater::DiagnosticStatusWrapper &status)

	ImuNode (ros::NodeHandle h)

void	InterruptionTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	pretest (diagnostic_updater::DiagnosticStatusWrapper &status)

int	publish_datum ()

void	publish_is_calibrated ()

void	ReadIDTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	ResumeTest (diagnostic_updater::DiagnosticStatusWrapper &status)

void	setErrorStatus (const std::string msg)

void	setErrorStatusf (const char *format,...)

bool	spin ()

int	start ()

int	stop ()

void	StreamedDataTest (diagnostic_updater::DiagnosticStatusWrapper &status)

	~ImuNode ()

Public Attributes
ros::ServiceServer	add_offset_serv_

double	angular_velocity_covariance_

double	angular_velocity_stdev_

bool	autocalibrate_

double	bias_x_

double	bias_y_

double	bias_z_

bool	calibrate_requested_

ros::ServiceServer	calibrate_serv_

bool	calibrated_

microstrain_3dmgx2_imu::IMU::cmd	cmd

double	desired_freq_

diagnostic_updater::Updater	diagnostic_

int	error_count_

std::string	error_status_

string	frameid_

diagnostic_updater::FrequencyStatus	freq_diag_

microstrain_3dmgx2_imu::IMU	imu

ros::Publisher	imu_data_pub_

ros::Publisher	is_calibrated_pub_

double	linear_acceleration_covariance_

double	linear_acceleration_stdev_

double	max_drift_rate_

ros::NodeHandle	node_handle_

double	offset_

double	orientation_covariance_

double	orientation_stdev_

string	port

ros::NodeHandle	private_node_handle_

sensor_msgs::Imu	reading

bool	running

self_test::TestRunner	self_test_

int	slow_count_

std::string	was_slow_

Detailed Description

Definition at line 61 of file imu_node.cc.

Constructor & Destructor Documentation

ImuNode::ImuNode ( ros::NodeHandle h )

inline

Definition at line 109 of file imu_node.cc.

ImuNode::~ImuNode ( )

inline

Definition at line 177 of file imu_node.cc.

Member Function Documentation

bool ImuNode::addOffset	(	microstrain_3dmgx2_imu::AddOffset::Request &	req,
		microstrain_3dmgx2_imu::AddOffset::Response &	resp
	)

inline

Definition at line 597 of file imu_node.cc.

bool ImuNode::calibrate	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

inline

Definition at line 617 of file imu_node.cc.

void ImuNode::calibrationStatus ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 581 of file imu_node.cc.

void ImuNode::clearErrorStatus ( )

inline

Definition at line 207 of file imu_node.cc.

void ImuNode::ConnectTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 410 of file imu_node.cc.

void ImuNode::deviceStatus ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 563 of file imu_node.cc.

void ImuNode::DisconnectTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 538 of file imu_node.cc.

void ImuNode::doCalibrate ( )

inline

Definition at line 649 of file imu_node.cc.

void ImuNode::getData ( sensor_msgs::Imu & data )

inline

Definition at line 436 of file imu_node.cc.

std::string ImuNode::getID ( bool output_info = false )

inline

Definition at line 266 of file imu_node.cc.

void ImuNode::GravityTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 488 of file imu_node.cc.

void ImuNode::GyroBiasTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 424 of file imu_node.cc.

void ImuNode::InterruptionTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 402 of file imu_node.cc.

void ImuNode::pretest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 390 of file imu_node.cc.

int ImuNode::publish_datum ( )

inline

Definition at line 312 of file imu_node.cc.

void ImuNode::publish_is_calibrated ( )

inline

Definition at line 383 of file imu_node.cc.

void ImuNode::ReadIDTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 417 of file imu_node.cc.

void ImuNode::ResumeTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 545 of file imu_node.cc.

void ImuNode::setErrorStatus ( const std::string msg )

inline

Definition at line 194 of file imu_node.cc.

void ImuNode::setErrorStatusf	(	const char *	format,
			...
	)

inline

Definition at line 182 of file imu_node.cc.

bool ImuNode::spin ( )

inline

Definition at line 356 of file imu_node.cc.

int ImuNode::start ( )

inline

Definition at line 212 of file imu_node.cc.

int ImuNode::stop ( )

inline

Definition at line 295 of file imu_node.cc.

void ImuNode::StreamedDataTest ( diagnostic_updater::DiagnosticStatusWrapper & status )

inline

Definition at line 466 of file imu_node.cc.

Member Data Documentation

ros::ServiceServer ImuNode::add_offset_serv_

Definition at line 77 of file imu_node.cc.

double ImuNode::angular_velocity_covariance_

Definition at line 100 of file imu_node.cc.

double ImuNode::angular_velocity_stdev_

Definition at line 100 of file imu_node.cc.

bool ImuNode::autocalibrate_

Definition at line 83 of file imu_node.cc.

double ImuNode::bias_x_

Definition at line 96 of file imu_node.cc.

double ImuNode::bias_y_

Definition at line 97 of file imu_node.cc.

double ImuNode::bias_z_

Definition at line 98 of file imu_node.cc.

bool ImuNode::calibrate_requested_

Definition at line 84 of file imu_node.cc.

ros::ServiceServer ImuNode::calibrate_serv_

Definition at line 78 of file imu_node.cc.

bool ImuNode::calibrated_

Definition at line 85 of file imu_node.cc.

microstrain_3dmgx2_imu::IMU::cmd ImuNode::cmd

Definition at line 69 of file imu_node.cc.

double ImuNode::desired_freq_

Definition at line 106 of file imu_node.cc.

diagnostic_updater::Updater ImuNode::diagnostic_

Definition at line 72 of file imu_node.cc.

int ImuNode::error_count_

Definition at line 87 of file imu_node.cc.

std::string ImuNode::error_status_

Definition at line 90 of file imu_node.cc.

string ImuNode::frameid_

Definition at line 92 of file imu_node.cc.

diagnostic_updater::FrequencyStatus ImuNode::freq_diag_

Definition at line 107 of file imu_node.cc.

microstrain_3dmgx2_imu::IMU ImuNode::imu

Definition at line 64 of file imu_node.cc.

ros::Publisher ImuNode::imu_data_pub_

Definition at line 76 of file imu_node.cc.

ros::Publisher ImuNode::is_calibrated_pub_

Definition at line 79 of file imu_node.cc.

double ImuNode::linear_acceleration_covariance_

Definition at line 101 of file imu_node.cc.

double ImuNode::linear_acceleration_stdev_

Definition at line 101 of file imu_node.cc.

double ImuNode::max_drift_rate_

Definition at line 104 of file imu_node.cc.

ros::NodeHandle ImuNode::node_handle_

Definition at line 74 of file imu_node.cc.

double ImuNode::offset_

Definition at line 94 of file imu_node.cc.

double ImuNode::orientation_covariance_

Definition at line 102 of file imu_node.cc.

double ImuNode::orientation_stdev_

Definition at line 102 of file imu_node.cc.

string ImuNode::port

Definition at line 67 of file imu_node.cc.

ros::NodeHandle ImuNode::private_node_handle_

Definition at line 75 of file imu_node.cc.

sensor_msgs::Imu ImuNode::reading

Definition at line 65 of file imu_node.cc.

bool ImuNode::running

Definition at line 81 of file imu_node.cc.

self_test::TestRunner ImuNode::self_test_

Definition at line 71 of file imu_node.cc.

int ImuNode::slow_count_

Definition at line 88 of file imu_node.cc.

std::string ImuNode::was_slow_

Definition at line 89 of file imu_node.cc.

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

imu_node.cc

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation