complementary_filter.cpp
/tmp/ws/src/imu_tools/imu_complementary_filter/src/
complementary__filter_8cpp
imu_complementary_filter/complementary_filter.h
imu_tools
void
invertQuaternion
namespaceimu__tools.html
a4e41ce004549580a4f3d95df36673f55
(double q0, double q1, double q2, double q3, double &q0_inv, double &q1_inv, double &q2_inv, double &q3_inv)
void
normalizeQuaternion
namespaceimu__tools.html
a092b7b6ad6b4a8fcbdf3c64f1356e7d0
(double &q0, double &q1, double &q2, double &q3)
void
normalizeVector
namespaceimu__tools.html
a165aa8cd9675f0a7967c358e773aa24e
(double &x, double &y, double &z)
void
quaternionMultiplication
namespaceimu__tools.html
af7d00d2b93101afebcf6b6c7c5c0e42e
(double p0, double p1, double p2, double p3, double q0, double q1, double q2, double q3, double &r0, double &r1, double &r2, double &r3)
void
rotateVectorByQuaternion
namespaceimu__tools.html
a974f825fa69c31bf86961a50ca8a7f97
(double x, double y, double z, double q0, double q1, double q2, double q3, double &vx, double &vy, double &vz)
void
scaleQuaternion
namespaceimu__tools.html
ad3c190cffd1814a456ecb42bbd236533
(double gain, double &dq0, double &dq1, double &dq2, double &dq3)
complementary_filter.h
/tmp/ws/src/imu_tools/imu_complementary_filter/include/imu_complementary_filter/
complementary__filter_8h
imu_tools::ComplementaryFilter
imu_tools
void
invertQuaternion
namespaceimu__tools.html
a4e41ce004549580a4f3d95df36673f55
(double q0, double q1, double q2, double q3, double &q0_inv, double &q1_inv, double &q2_inv, double &q3_inv)
void
normalizeQuaternion
namespaceimu__tools.html
a092b7b6ad6b4a8fcbdf3c64f1356e7d0
(double &q0, double &q1, double &q2, double &q3)
void
normalizeVector
namespaceimu__tools.html
a165aa8cd9675f0a7967c358e773aa24e
(double &x, double &y, double &z)
void
quaternionMultiplication
namespaceimu__tools.html
af7d00d2b93101afebcf6b6c7c5c0e42e
(double p0, double p1, double p2, double p3, double q0, double q1, double q2, double q3, double &r0, double &r1, double &r2, double &r3)
void
rotateVectorByQuaternion
namespaceimu__tools.html
a974f825fa69c31bf86961a50ca8a7f97
(double x, double y, double z, double q0, double q1, double q2, double q3, double &vx, double &vy, double &vz)
void
scaleQuaternion
namespaceimu__tools.html
ad3c190cffd1814a456ecb42bbd236533
(double gain, double &dq0, double &dq1, double &dq2, double &dq3)
complementary_filter_node.cpp
/tmp/ws/src/imu_tools/imu_complementary_filter/src/
complementary__filter__node_8cpp
imu_complementary_filter/complementary_filter_ros.h
int
main
complementary__filter__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
complementary_filter_ros.cpp
/tmp/ws/src/imu_tools/imu_complementary_filter/src/
complementary__filter__ros_8cpp
imu_complementary_filter/complementary_filter_ros.h
imu_tools
complementary_filter_ros.h
/tmp/ws/src/imu_tools/imu_complementary_filter/include/imu_complementary_filter/
complementary__filter__ros_8h
imu_complementary_filter/complementary_filter.h
imu_tools::ComplementaryFilterROS
imu_tools
imu_tools::ComplementaryFilter
classimu__tools_1_1ComplementaryFilter.html
ComplementaryFilter
classimu__tools_1_1ComplementaryFilter.html
abaa82c082ff623dff27a7e2063776b77
()
double
getAngularVelocityBiasX
classimu__tools_1_1ComplementaryFilter.html
a55133a2ac6de8870c64fc0b3d38020cb
() const
double
getAngularVelocityBiasY
classimu__tools_1_1ComplementaryFilter.html
af087b9703bb8246246a40087275829d9
() const
double
getAngularVelocityBiasZ
classimu__tools_1_1ComplementaryFilter.html
a27732d1bae7c55b47baf424f3df6df4c
() const
double
getBiasAlpha
classimu__tools_1_1ComplementaryFilter.html
a986236c6a343b32ebad1e7a0cbfeb9d9
() const
bool
getDoAdaptiveGain
classimu__tools_1_1ComplementaryFilter.html
a3e1e085603458ca4d3f53ada6e092d29
() const
bool
getDoBiasEstimation
classimu__tools_1_1ComplementaryFilter.html
a985ba1328eff4ef19492c5616b226de2
() const
double
getGainAcc
classimu__tools_1_1ComplementaryFilter.html
a9389665ce7761d77d0fb6e074e049dc2
() const
double
getGainMag
classimu__tools_1_1ComplementaryFilter.html
a28ea3f3983741ec169adcb9f8eee966e
() const
void
getOrientation
classimu__tools_1_1ComplementaryFilter.html
aa6ccbac22db1eb91fc2a7f98cb41cd7b
(double &q0, double &q1, double &q2, double &q3) const
bool
getSteadyState
classimu__tools_1_1ComplementaryFilter.html
a6ea0cbb1d397fe3843dd2c5b8a2730b6
() const
bool
setBiasAlpha
classimu__tools_1_1ComplementaryFilter.html
a1a1ba4e58071af508bd5396655636fcf
(double bias_alpha)
void
setDoAdaptiveGain
classimu__tools_1_1ComplementaryFilter.html
a731834255e42261fe44a18ae373df472
(bool do_adaptive_gain)
void
setDoBiasEstimation
classimu__tools_1_1ComplementaryFilter.html
a2fb9d0d37b98ae18e1cf8307f376232f
(bool do_bias_estimation)
bool
setGainAcc
classimu__tools_1_1ComplementaryFilter.html
a996c09b6187d23b8b433fc60fb69b3db
(double gain)
bool
setGainMag
classimu__tools_1_1ComplementaryFilter.html
adb2ded51b9b9c27753f6d4fa40393ab5
(double gain)
void
setOrientation
classimu__tools_1_1ComplementaryFilter.html
affc299edfe45123cb36bc072933eb258
(double q0, double q1, double q2, double q3)
void
update
classimu__tools_1_1ComplementaryFilter.html
a36217ffc004e01845d2e0a9bbc0e59a6
(double ax, double ay, double az, double wx, double wy, double wz, double dt)
void
update
classimu__tools_1_1ComplementaryFilter.html
a3e5e19b5a238440c5202bfa779dc5676
(double ax, double ay, double az, double wx, double wy, double wz, double mx, double my, double mz, double dt)
virtual
~ComplementaryFilter
classimu__tools_1_1ComplementaryFilter.html
ac9ea1f70b8b646fb56aec79f9fed967d
()
bool
checkState
classimu__tools_1_1ComplementaryFilter.html
a1adb29885ab9a8eede693f5a8d660c4c
(double ax, double ay, double az, double wx, double wy, double wz) const
void
getAccCorrection
classimu__tools_1_1ComplementaryFilter.html
add4a368bd11fe96140cd1a3e9796c299
(double ax, double ay, double az, double p0, double p1, double p2, double p3, double &dq0, double &dq1, double &dq2, double &dq3)
double
getAdaptiveGain
classimu__tools_1_1ComplementaryFilter.html
a1a64d943073a0a0ad7010c602d7d1ebf
(double alpha, double ax, double ay, double az)
void
getMagCorrection
classimu__tools_1_1ComplementaryFilter.html
af7d0e97bea278bdf844188c22e1d105b
(double mx, double my, double mz, double p0, double p1, double p2, double p3, double &dq0, double &dq1, double &dq2, double &dq3)
void
getMeasurement
classimu__tools_1_1ComplementaryFilter.html
a5f2bbbd1511a9e2d508fd7c99f7a714a
(double ax, double ay, double az, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
void
getMeasurement
classimu__tools_1_1ComplementaryFilter.html
a66abc42e191c2406af4b65ff78906f19
(double ax, double ay, double az, double mx, double my, double mz, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
void
getPrediction
classimu__tools_1_1ComplementaryFilter.html
a357a047447f3e094c97033ee0d3fd27c
(double wx, double wy, double wz, double dt, double &q0_pred, double &q1_pred, double &q2_pred, double &q3_pred) const
void
updateBiases
classimu__tools_1_1ComplementaryFilter.html
adee1af67ec2e06b564bccceb9750d9af
(double ax, double ay, double az, double wx, double wy, double wz)
double
bias_alpha_
classimu__tools_1_1ComplementaryFilter.html
aa919fb2a2993aac28c142e4108421d09
bool
do_adaptive_gain_
classimu__tools_1_1ComplementaryFilter.html
ab4e9e729edcccfef0e9be6215d73c880
bool
do_bias_estimation_
classimu__tools_1_1ComplementaryFilter.html
ad8af47a3629c808c9fa4aea6099a3992
double
gain_acc_
classimu__tools_1_1ComplementaryFilter.html
a63605e8662ac8498a06108c4ef52e163
double
gain_mag_
classimu__tools_1_1ComplementaryFilter.html
a173cfc4d97bab3b6e150b466d181a92c
bool
initialized_
classimu__tools_1_1ComplementaryFilter.html
aaf6154dd067037e5afd1649ba323330e
double
q0_
classimu__tools_1_1ComplementaryFilter.html
a034871e3d7180dd621c76b86d1966396
double
q1_
classimu__tools_1_1ComplementaryFilter.html
a8b9d7b7fbd78371a2283027bef2c379c
double
q2_
classimu__tools_1_1ComplementaryFilter.html
a77c74425d8a0f493ea011697dc59ae23
double
q3_
classimu__tools_1_1ComplementaryFilter.html
af91ea7e2b3bce8a4958bf25a39bf6d7c
bool
steady_state_
classimu__tools_1_1ComplementaryFilter.html
ab2e89b3322a77be257f2ada8e270e14c
double
wx_bias_
classimu__tools_1_1ComplementaryFilter.html
a91f438b96a6291c29a5be2287b025719
double
wx_prev_
classimu__tools_1_1ComplementaryFilter.html
aa341acddd37a082bb862d5d3836e0649
double
wy_bias_
classimu__tools_1_1ComplementaryFilter.html
ad3372cd2a7c2b93d6594b70b5d9f93e3
double
wy_prev_
classimu__tools_1_1ComplementaryFilter.html
a8ee27710e87a851367185a4512016494
double
wz_bias_
classimu__tools_1_1ComplementaryFilter.html
a1762d0e32ca46ea408810774894e84ac
double
wz_prev_
classimu__tools_1_1ComplementaryFilter.html
a0d5cb8d13e4c98b309a66bc584528c83
static const double
gamma_
classimu__tools_1_1ComplementaryFilter.html
a21645f6edbef24e3b24de55e1cd598d9
static const double
kAccelerationThreshold
classimu__tools_1_1ComplementaryFilter.html
aceaa09b643e5f872eb43aa2b896f2ebd
static const double
kAngularVelocityThreshold
classimu__tools_1_1ComplementaryFilter.html
aae10217b421317c3075e3ea2c1a2c16a
static const double
kDeltaAngularVelocityThreshold
classimu__tools_1_1ComplementaryFilter.html
a6ccc9ac2e2ed22b4b0f7ccbdbbaa47c5
static const double
kGravity
classimu__tools_1_1ComplementaryFilter.html
adea27be4691eb0bb9509ea54844cbbcf
imu_tools::ComplementaryFilterROS
classimu__tools_1_1ComplementaryFilterROS.html
ComplementaryFilterROS
classimu__tools_1_1ComplementaryFilterROS.html
aeb6af382db1a67cd342df5888d933964
(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
virtual
~ComplementaryFilterROS
classimu__tools_1_1ComplementaryFilterROS.html
a43cea0b4c0ee95d66f9a18f87c9d1636
()
sensor_msgs::Imu
ImuMsg
classimu__tools_1_1ComplementaryFilterROS.html
a1e79f5d0987208b1d3eab1e96f52c7e5
message_filters::Subscriber< ImuMsg >
ImuSubscriber
classimu__tools_1_1ComplementaryFilterROS.html
a74d5ef7d02e3b699244e9abafcf82834
sensor_msgs::MagneticField
MagMsg
classimu__tools_1_1ComplementaryFilterROS.html
a706cc148f006a47deb1afaea340b6661
message_filters::Subscriber< MagMsg >
MagSubscriber
classimu__tools_1_1ComplementaryFilterROS.html
a91e85693b994fb8cfd1356a42eb95ea6
message_filters::sync_policies::ApproximateTime< sensor_msgs::Imu, MagMsg >
MySyncPolicy
classimu__tools_1_1ComplementaryFilterROS.html
ad438744a0b73875443bc5701a9592b1f
message_filters::Synchronizer< SyncPolicy >
Synchronizer
classimu__tools_1_1ComplementaryFilterROS.html
ad9a18994a1b9ad445edb3b810ce15184
message_filters::sync_policies::ApproximateTime< ImuMsg, MagMsg >
SyncPolicy
classimu__tools_1_1ComplementaryFilterROS.html
a89d7296f37a5210f21f744540c6811b5
tf::Quaternion
hamiltonToTFQuaternion
classimu__tools_1_1ComplementaryFilterROS.html
aecb3f41b2a5c3e9e02e7b68e4586df65
(double q0, double q1, double q2, double q3) const
void
imuCallback
classimu__tools_1_1ComplementaryFilterROS.html
aa7f82c042e0f44d32601112f24e5fd2c
(const ImuMsg::ConstPtr &imu_msg_raw)
void
imuMagCallback
classimu__tools_1_1ComplementaryFilterROS.html
a18f11f8e1acbc60fd420a964a65275e0
(const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void
initializeParams
classimu__tools_1_1ComplementaryFilterROS.html
a2a9c81caa0d14dd726e396deac37463a
()
void
publish
classimu__tools_1_1ComplementaryFilterROS.html
a2225a3cd6bae69f6a094c643a0a9f820
(const sensor_msgs::Imu::ConstPtr &imu_msg_raw)
double
constant_dt_
classimu__tools_1_1ComplementaryFilterROS.html
a14c1552c6b62b5b16e0b0302d8e82144
ComplementaryFilter
filter_
classimu__tools_1_1ComplementaryFilterROS.html
ab4a4042f09bddf9d573f10bb960a7808
std::string
fixed_frame_
classimu__tools_1_1ComplementaryFilterROS.html
aef056a2fe58089576f0351001f6508e3
ros::Publisher
imu_publisher_
classimu__tools_1_1ComplementaryFilterROS.html
a6a180ef9ce08b1767e499fb262278807
boost::shared_ptr< ImuSubscriber >
imu_subscriber_
classimu__tools_1_1ComplementaryFilterROS.html
a288973ff86c8f54a3cc008424d9f0f80
bool
initialized_filter_
classimu__tools_1_1ComplementaryFilterROS.html
aef7873c511d57fc7a1c3f3abeb274505
boost::shared_ptr< MagSubscriber >
mag_subscriber_
classimu__tools_1_1ComplementaryFilterROS.html
a269819387854bccda7f7eaf9f97d138d
ros::NodeHandle
nh_
classimu__tools_1_1ComplementaryFilterROS.html
a59f2824ca9a37bdfa623b099f5212428
ros::NodeHandle
nh_private_
classimu__tools_1_1ComplementaryFilterROS.html
af71c1a6cba3a2ae7d0497c9f892ea05d
double
orientation_variance_
classimu__tools_1_1ComplementaryFilterROS.html
a16dcb7b5860cc95f631f4f4bd8bb8fd0
bool
publish_debug_topics_
classimu__tools_1_1ComplementaryFilterROS.html
a798f1697fea8cdc0e915d973988c47dc
bool
publish_tf_
classimu__tools_1_1ComplementaryFilterROS.html
ac2b09045b2c6cfd7ec568cab90ee138f
bool
reverse_tf_
classimu__tools_1_1ComplementaryFilterROS.html
a5bcc4b4ee18bdd60bdeec6d94ad57801
ros::Publisher
rpy_publisher_
classimu__tools_1_1ComplementaryFilterROS.html
a9b1032a25c86f374ae984d523d909567
ros::Publisher
state_publisher_
classimu__tools_1_1ComplementaryFilterROS.html
a0234ce9a2c6c23f2c826d40dec807326
boost::shared_ptr< Synchronizer >
sync_
classimu__tools_1_1ComplementaryFilterROS.html
acc66fdd600d77a76f6f9d8d0c250c9f7
tf::TransformBroadcaster
tf_broadcaster_
classimu__tools_1_1ComplementaryFilterROS.html
a16d065ae0d6593510f5664dd5582a671
ros::Time
time_prev_
classimu__tools_1_1ComplementaryFilterROS.html
ad88b6ef8f289112d29f5159b5061e9bb
bool
use_mag_
classimu__tools_1_1ComplementaryFilterROS.html
a60b963ce28f9e39c69ca789caf3b0a1e
imu_tools
namespaceimu__tools.html
imu_tools::ComplementaryFilter
imu_tools::ComplementaryFilterROS
void
invertQuaternion
namespaceimu__tools.html
a4e41ce004549580a4f3d95df36673f55
(double q0, double q1, double q2, double q3, double &q0_inv, double &q1_inv, double &q2_inv, double &q3_inv)
void
normalizeQuaternion
namespaceimu__tools.html
a092b7b6ad6b4a8fcbdf3c64f1356e7d0
(double &q0, double &q1, double &q2, double &q3)
void
normalizeVector
namespaceimu__tools.html
a165aa8cd9675f0a7967c358e773aa24e
(double &x, double &y, double &z)
void
quaternionMultiplication
namespaceimu__tools.html
af7d00d2b93101afebcf6b6c7c5c0e42e
(double p0, double p1, double p2, double p3, double q0, double q1, double q2, double q3, double &r0, double &r1, double &r2, double &r3)
void
rotateVectorByQuaternion
namespaceimu__tools.html
a974f825fa69c31bf86961a50ca8a7f97
(double x, double y, double z, double q0, double q1, double q2, double q3, double &vx, double &vy, double &vz)
void
scaleQuaternion
namespaceimu__tools.html
ad3c190cffd1814a456ecb42bbd236533
(double gain, double &dq0, double &dq1, double &dq2, double &dq3)