Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
RtUsb9axisimuRosDriver Class Reference

#include <rt_usb_9axisimu_driver.hpp>

Inheritance diagram for RtUsb9axisimuRosDriver:
Inheritance graph
[legend]

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

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.


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


rt_usb_9axisimu_driver
Author(s): RT Corporation
autogenerated on Mon Dec 14 2020 03:34:37