RtUsb9axisimuRosDriver Class Reference

#include <rt_usb_9axisimu_driver.hpp>

Inheritance diagram for RtUsb9axisimuRosDriver:

Public Member Functions
void	checkDataFormat (void)
bool	hasAsciiDataFormat (void)
bool	hasBinaryDataFormat (void)
bool	hasCompletedFormatCheck (void)
bool	hasRefreshedImuData (void)
bool	publishImuData ()
bool	readSensorData ()
	RtUsb9axisimuRosDriver (std::string serialport)
void	setImuFrameIdName (std::string frame_id)
void	setImuPortName (std::string serialport)
void	setImuStdDev (double linear_acceleration, double angular_velocity, double magnetic_field)
bool	startCommunication ()
void	stopCommunication (void)
	~RtUsb9axisimuRosDriver ()
Public Member Functions inherited from rt_usb_9axisimu::SerialPort
void	closeSerialPort ()
bool	openPort (const char *port)
bool	openSerialPort ()
int	readFromDevice (unsigned char *buf, unsigned int buf_len)
	SerialPort (const char *port="")
int	writeToDevice (unsigned char *data, unsigned int data_len)
	~SerialPort ()

Private Types
enum	DataFormat {   NONE = 0, NOT_BINARY, BINARY, NOT_ASCII,   ASCII, INCORRECT }

Private Member Functions
int16_t	combineByteData (unsigned char data_h, unsigned char data_l)
rt_usb_9axisimu::ImuData< int16_t >	extractBinarySensorData (unsigned char *imu_data_buf)
bool	isBinarySensorData (unsigned char *imu_data_buf)
bool	isValidAsciiSensorData (std::vector< std::string > imu_data_vector_buf)
bool	readAsciiData (void)
bool	readBinaryData (void)

Private Attributes
double	angular_velocity_stddev_
rt_usb_9axisimu::Consts	consts
DataFormat	data_format_
std::string	frame_id_
bool	has_completed_format_check_
bool	has_refreshed_imu_data_
ros::Publisher	imu_data_raw_pub_
ros::Publisher	imu_mag_pub_
ros::Publisher	imu_temperature_pub_
double	linear_acceleration_stddev_
double	magnetic_field_stddev_
ros::NodeHandle	nh_
rt_usb_9axisimu::SensorData	sensor_data_

Detailed Description

Definition at line 40 of file rt_usb_9axisimu_driver.hpp.

Member Enumeration Documentation

enum RtUsb9axisimuRosDriver::DataFormat

private

Enumerator
NONE
NOT_BINARY
BINARY
NOT_ASCII
ASCII
INCORRECT

Definition at line 57 of file rt_usb_9axisimu_driver.hpp.

Constructor & Destructor Documentation

RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver

(

std::string

serialport = ""

)

Definition at line 188 of file rt_usb_9axisimu_driver.cpp.

RtUsb9axisimuRosDriver::~RtUsb9axisimuRosDriver

(

)

Definition at line 201 of file rt_usb_9axisimu_driver.cpp.

Member Function Documentation

void RtUsb9axisimuRosDriver::checkDataFormat

(

void

)

Definition at line 234 of file rt_usb_9axisimu_driver.cpp.

int16_t RtUsb9axisimuRosDriver::combineByteData ( unsigned char  data_h, unsigned char  data_l  )

private

Definition at line 45 of file rt_usb_9axisimu_driver.cpp.

rt_usb_9axisimu::ImuData< int16_t > RtUsb9axisimuRosDriver::extractBinarySensorData ( unsigned char *  imu_data_buf )

private

Definition at line 58 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::hasAsciiDataFormat

(

void

)

Definition at line 265 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::hasBinaryDataFormat

(

void

)

Definition at line 270 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::hasCompletedFormatCheck

(

void

)

Definition at line 260 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::hasRefreshedImuData

(

void

)

Definition at line 275 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::isBinarySensorData ( unsigned char *  imu_data_buf )

private

Definition at line 78 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::isValidAsciiSensorData ( std::vector< std::string >  imu_data_vector_buf )

private

Definition at line 118 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::publishImuData

(

)

Definition at line 280 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::readAsciiData ( void  )

private

Definition at line 130 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::readBinaryData ( void  )

private

Definition at line 87 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::readSensorData

(

)

Definition at line 352 of file rt_usb_9axisimu_driver.cpp.

void RtUsb9axisimuRosDriver::setImuFrameIdName

(

std::string

frame_id

)

Definition at line 205 of file rt_usb_9axisimu_driver.cpp.

void RtUsb9axisimuRosDriver::setImuPortName

(

std::string

serialport

)

Definition at line 210 of file rt_usb_9axisimu_driver.cpp.

void RtUsb9axisimuRosDriver::setImuStdDev	(	double	linear_acceleration,
		double	angular_velocity,
		double	magnetic_field
	)

Definition at line 215 of file rt_usb_9axisimu_driver.cpp.

bool RtUsb9axisimuRosDriver::startCommunication

(

)

Definition at line 223 of file rt_usb_9axisimu_driver.cpp.

void RtUsb9axisimuRosDriver::stopCommunication

(

void

)

Definition at line 229 of file rt_usb_9axisimu_driver.cpp.

Member Data Documentation

double RtUsb9axisimuRosDriver::angular_velocity_stddev_

private

Definition at line 53 of file rt_usb_9axisimu_driver.hpp.

rt_usb_9axisimu::Consts RtUsb9axisimuRosDriver::consts

private

Definition at line 55 of file rt_usb_9axisimu_driver.hpp.

DataFormat RtUsb9axisimuRosDriver::data_format_

private

Definition at line 67 of file rt_usb_9axisimu_driver.hpp.

std::string RtUsb9axisimuRosDriver::frame_id_

private

Definition at line 51 of file rt_usb_9axisimu_driver.hpp.

bool RtUsb9axisimuRosDriver::has_completed_format_check_

private

Definition at line 66 of file rt_usb_9axisimu_driver.hpp.

bool RtUsb9axisimuRosDriver::has_refreshed_imu_data_

private

Definition at line 68 of file rt_usb_9axisimu_driver.hpp.

ros::Publisher RtUsb9axisimuRosDriver::imu_data_raw_pub_

private

Definition at line 45 of file rt_usb_9axisimu_driver.hpp.

ros::Publisher RtUsb9axisimuRosDriver::imu_mag_pub_

private

Definition at line 46 of file rt_usb_9axisimu_driver.hpp.

ros::Publisher RtUsb9axisimuRosDriver::imu_temperature_pub_

private

Definition at line 47 of file rt_usb_9axisimu_driver.hpp.

double RtUsb9axisimuRosDriver::linear_acceleration_stddev_

private

Definition at line 52 of file rt_usb_9axisimu_driver.hpp.

double RtUsb9axisimuRosDriver::magnetic_field_stddev_

private

Definition at line 54 of file rt_usb_9axisimu_driver.hpp.

ros::NodeHandle RtUsb9axisimuRosDriver::nh_

private

Definition at line 43 of file rt_usb_9axisimu_driver.hpp.

rt_usb_9axisimu::SensorData RtUsb9axisimuRosDriver::sensor_data_

private

Definition at line 49 of file rt_usb_9axisimu_driver.hpp.

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

• rt_usb_9axisimu_driver.hpp
• rt_usb_9axisimu_driver.cpp