#include <imu_ros_i.h>

Inheritance diagram for phidgets::ImuRosI:

Public Member Functions
bool	calibrateService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

	ImuRosI (ros::NodeHandle nh, ros::NodeHandle nh_private)

Public Member Functions inherited from phidgets::Imu
	Imu ()

Public Member Functions inherited from phidgets::Phidget
int	close ()

std::string	getDeviceLabel ()

std::string	getDeviceName ()

int	getDeviceSerialNumber ()

std::string	getDeviceType ()

int	getDeviceVersion ()

std::string	getLibraryVersion ()

int	open (int serial_number)

	Phidget ()

int	waitForAttachment (int timeout)

	~Phidget ()

Private Types
typedef sensor_msgs::Imu	ImuMsg

typedef sensor_msgs::MagneticField	MagMsg

Private Member Functions
void	attachHandler ()

void	calibrate ()

void	dataHandler (CPhidgetSpatial_SpatialEventDataHandle *data, int count)

void	detachHandler ()

void	errorHandler (int error)

void	initDevice ()

void	phidgetsDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Main diagnostic method that takes care of collecting diagnostic data. More...

void	processImuData (CPhidgetSpatial_SpatialEventDataHandle *data, int i)

Private Attributes
double	angular_velocity_stdev_

ros::Publisher	cal_publisher_

ros::ServiceServer	cal_srv_

double	cc_gain0_

double	cc_gain1_

double	cc_gain2_

double	cc_mag_field_

double	cc_offset0_

double	cc_offset1_

double	cc_offset2_

double	cc_T0_

double	cc_T1_

double	cc_T2_

double	cc_T3_

double	cc_T4_

double	cc_T5_

diagnostic_updater::Updater	diag_updater_
	updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics More...

int	error_number_

std::string	frame_id_

ImuMsg	imu_msg_

ros::Publisher	imu_publisher_

boost::shared_ptr< diagnostic_updater::TopicDiagnostic >	imu_publisher_diag_ptr_

bool	is_connected_

ros::Time	last_published_time_

double	linear_acceleration_stdev_

MagMsg	mag_msg_

ros::Publisher	mag_publisher_

double	magnetic_field_stdev_

boost::mutex	mutex_

ros::NodeHandle	nh_

ros::NodeHandle	nh_private_

int	period_

int	serial_number_

double	target_publish_freq_

ros::Time	time_zero_

bool	use_imu_time_

Additional Inherited Members
Static Public Member Functions inherited from phidgets::Phidget
static std::string	getErrorDescription (int errorCode)

Protected Member Functions inherited from phidgets::Imu
void	setDataRate (int rate)

void	zero ()

Protected Member Functions inherited from phidgets::Phidget
void	init (CPhidgetHandle handle)

virtual void	registerHandlers ()

Protected Attributes inherited from phidgets::Imu
CPhidgetSpatialHandle	imu_handle_

Protected Attributes inherited from phidgets::Phidget
CPhidgetHandle	handle_

Detailed Description

Definition at line 24 of file imu_ros_i.h.

Member Typedef Documentation

typedef sensor_msgs::Imu phidgets::ImuRosI::ImuMsg

private

Definition at line 26 of file imu_ros_i.h.

typedef sensor_msgs::MagneticField phidgets::ImuRosI::MagMsg

private

Definition at line 27 of file imu_ros_i.h.

Constructor & Destructor Documentation

phidgets::ImuRosI::ImuRosI	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 6 of file imu_ros_i.cpp.

Member Function Documentation

void phidgets::ImuRosI::attachHandler ( )

privatevirtual

Reimplemented from phidgets::Phidget.

Definition at line 283 of file imu_ros_i.cpp.

void phidgets::ImuRosI::calibrate ( )

private

Definition at line 186 of file imu_ros_i.cpp.

bool phidgets::ImuRosI::calibrateService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 179 of file imu_ros_i.cpp.

void phidgets::ImuRosI::dataHandler	(	CPhidgetSpatial_SpatialEventDataHandle *	data,
		int	count
	)

privatevirtual

Reimplemented from phidgets::Imu.

Definition at line 277 of file imu_ros_i.cpp.

void phidgets::ImuRosI::detachHandler ( )

privatevirtual

Reimplemented from phidgets::Phidget.

Definition at line 295 of file imu_ros_i.cpp.

void phidgets::ImuRosI::errorHandler ( int error )

privatevirtual

Reimplemented from phidgets::Phidget.

Definition at line 302 of file imu_ros_i.cpp.

void phidgets::ImuRosI::initDevice ( )

private

Definition at line 152 of file imu_ros_i.cpp.

void phidgets::ImuRosI::phidgetsDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

private

Main diagnostic method that takes care of collecting diagnostic data.

Parameters

stat	The stat param is what is the diagnostic tasks are added two. Internally published by the diagnostic_updater package. Added for diagnostics

Definition at line 309 of file imu_ros_i.cpp.

void phidgets::ImuRosI::processImuData	(	CPhidgetSpatial_SpatialEventDataHandle *	data,
		int	i
	)

private

Definition at line 200 of file imu_ros_i.cpp.

Member Data Documentation

double phidgets::ImuRosI::angular_velocity_stdev_

private

Definition at line 69 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::cal_publisher_

private

Definition at line 42 of file imu_ros_i.h.

ros::ServiceServer phidgets::ImuRosI::cal_srv_

private

Definition at line 43 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain0_

private

Definition at line 79 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain1_

private

Definition at line 80 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain2_

private

Definition at line 81 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_mag_field_

private

Definition at line 75 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset0_

private

Definition at line 76 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset1_

private

Definition at line 77 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_offset2_

private

Definition at line 78 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T0_

private

Definition at line 82 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T1_

private

Definition at line 83 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T2_

private

Definition at line 84 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T3_

private

Definition at line 85 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T4_

private

Definition at line 86 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T5_

private

Definition at line 87 of file imu_ros_i.h.

diagnostic_updater::Updater phidgets::ImuRosI::diag_updater_

private

updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics

Definition at line 47 of file imu_ros_i.h.

int phidgets::ImuRosI::error_number_

private

Definition at line 52 of file imu_ros_i.h.

std::string phidgets::ImuRosI::frame_id_

private

Definition at line 66 of file imu_ros_i.h.

ImuMsg phidgets::ImuRosI::imu_msg_

private

Definition at line 59 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::imu_publisher_

private

Definition at line 40 of file imu_ros_i.h.

boost::shared_ptr<diagnostic_updater::TopicDiagnostic> phidgets::ImuRosI::imu_publisher_diag_ptr_

private

Definition at line 48 of file imu_ros_i.h.

bool phidgets::ImuRosI::is_connected_

private

Definition at line 51 of file imu_ros_i.h.

ros::Time phidgets::ImuRosI::last_published_time_

private

Definition at line 56 of file imu_ros_i.h.

double phidgets::ImuRosI::linear_acceleration_stdev_

private

Definition at line 70 of file imu_ros_i.h.

MagMsg phidgets::ImuRosI::mag_msg_

private

Definition at line 60 of file imu_ros_i.h.

ros::Publisher phidgets::ImuRosI::mag_publisher_

private

Definition at line 41 of file imu_ros_i.h.

double phidgets::ImuRosI::magnetic_field_stdev_

private

Definition at line 71 of file imu_ros_i.h.

boost::mutex phidgets::ImuRosI::mutex_

private

Definition at line 55 of file imu_ros_i.h.

ros::NodeHandle phidgets::ImuRosI::nh_

private

Definition at line 38 of file imu_ros_i.h.

ros::NodeHandle phidgets::ImuRosI::nh_private_

private

Definition at line 39 of file imu_ros_i.h.

int phidgets::ImuRosI::period_

private

Definition at line 67 of file imu_ros_i.h.

int phidgets::ImuRosI::serial_number_

private

Definition at line 57 of file imu_ros_i.h.

double phidgets::ImuRosI::target_publish_freq_

private

Definition at line 53 of file imu_ros_i.h.

ros::Time phidgets::ImuRosI::time_zero_

private

Definition at line 62 of file imu_ros_i.h.

bool phidgets::ImuRosI::use_imu_time_

private

Definition at line 72 of file imu_ros_i.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation