dai::ros::ImuConverter Class Reference

#include <ImuConverter.hpp>

Public Member Functions
	ImuConverter (const std::string &frameName, ImuSyncMethod syncMode=ImuSyncMethod::LINEAR_INTERPOLATE_ACCEL, double linear_accel_cov=0.0, double angular_velocity_cov=0.0)
void	toRosMsg (std::shared_ptr< dai::IMUData > inData, std::deque< ImuMsgs::Imu > &outImuMsg)

Private Member Functions
ImuMsgs::Imu	CreateUnitMessage (dai::IMUReportAccelerometer accel, dai::IMUReportGyroscope gyro)
void	FillImuData_LinearInterpolation (std::vector< IMUPacket > &imuPackets, std::deque< ImuMsgs::Imu > &imuMsgs)

Private Attributes
double	_angular_velocity_cov
const std::string	_frameName = ""
double	_linear_accel_cov
::ros::Time	_rosBaseTime
uint32_t	_sequenceNum
std::chrono::time_point< std::chrono::steady_clock >	_steadyBaseTime
ImuSyncMethod	_syncMode

Detailed Description

Definition at line 35 of file ImuConverter.hpp.

Constructor & Destructor Documentation

ImuConverter()

dai::ros::ImuConverter::ImuConverter	(	const std::string &	frameName,
		ImuSyncMethod	syncMode = ImuSyncMethod::LINEAR_INTERPOLATE_ACCEL,
		double	linear_accel_cov = 0.0,
		double	angular_velocity_cov = 0.0
	)

Definition at line 8 of file ImuConverter.cpp.

Member Function Documentation

CreateUnitMessage()

ImuMsgs::Imu dai::ros::ImuConverter::CreateUnitMessage ( dai::IMUReportAccelerometer  accel, dai::IMUReportGyroscope  gyro  )

private

Definition at line 178 of file ImuConverter.cpp.

FillImuData_LinearInterpolation()

void dai::ros::ImuConverter::FillImuData_LinearInterpolation ( std::vector< IMUPacket > &  imuPackets, std::deque< ImuMsgs::Imu > &  imuMsgs  )

private

Definition at line 22 of file ImuConverter.cpp.

toRosMsg()

void dai::ros::ImuConverter::toRosMsg	(	std::shared_ptr< dai::IMUData >	inData,
		std::deque< ImuMsgs::Imu > &	outImuMsg
	)

Definition at line 214 of file ImuConverter.cpp.

Member Data Documentation

_angular_velocity_cov

double dai::ros::ImuConverter::_angular_velocity_cov

private

Definition at line 49 of file ImuConverter.hpp.

_frameName

const std::string dai::ros::ImuConverter::_frameName = ""

private

Definition at line 50 of file ImuConverter.hpp.

_linear_accel_cov

double dai::ros::ImuConverter::_linear_accel_cov

private

Definition at line 49 of file ImuConverter.hpp.

_rosBaseTime

::ros::Time dai::ros::ImuConverter::_rosBaseTime

private

Definition at line 56 of file ImuConverter.hpp.

_sequenceNum

uint32_t dai::ros::ImuConverter::_sequenceNum

private

Definition at line 48 of file ImuConverter.hpp.

_steadyBaseTime

std::chrono::time_point<std::chrono::steady_clock> dai::ros::ImuConverter::_steadyBaseTime

private

Definition at line 52 of file ImuConverter.hpp.

_syncMode

ImuSyncMethod dai::ros::ImuConverter::_syncMode

private

Definition at line 51 of file ImuConverter.hpp.

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

• ImuConverter.hpp
• ImuConverter.cpp