sick_scan::SickScanImu Class Reference

#include <sick_generic_imu.h>

Public Member Functions
bool	isImuAckDatagram (char *datagram, size_t datagram_length)
bool	isImuAsciiDatagram (char *datagram, size_t datagram_length)
	Checking ASCII diagram for imu message type. More...
bool	isImuBinaryDatagram (char *datagram, size_t datagram_length)
	Checking ASCII diagram for imu message type. More...
bool	isImuDatagram (char *datagram, size_t datagram_length)
int	parseAsciiDatagram (char *datagram, size_t datagram_length, SickScanImuValue *imValuePtr)
	Parsing Ascii datagram. More...
int	parseBinaryDatagram (char *datagram, size_t datagram_length, SickScanImuValue *imValuePtr)
	Parsing Ascii datagram. More...
int	parseDatagram (ros::Time timeStamp, unsigned char *receiveBuffer, int actual_length, bool useBinaryProtocol)
	SickScanImu (SickScanCommon *commonPtr_)
double	simpleFmodTwoPi (double angle)
	Checking angle to be in the interval [-M_PI,M_PI] Of course you can also use fmod, e.g. fmod(angle + M_PI,2*M_PI) - M_PI. More...

Static Public Member Functions
static void	imuParserTest ()
static void	quaternion2rpyTest ()
	Test barebone implemetation from quaternio to euler (Roll-Pitch-Yaw-Sequence) to avoid problems using tf.h against bloom. Include tf.h for a full test and uncomment #0 for this case. More...

Private Attributes
SickScanCommon *	commonPtr
bool	emul

Detailed Description

Definition at line 184 of file sick_generic_imu.h.

Constructor & Destructor Documentation

SickScanImu()

sick_scan::SickScanImu::SickScanImu ( SickScanCommon *  commonPtr_ )

inline

Definition at line 187 of file sick_generic_imu.h.

Member Function Documentation

imuParserTest()

void sick_scan::SickScanImu::imuParserTest ( )

static

Definition at line 500 of file sick_generic_imu.cpp.

isImuAckDatagram()

bool sick_scan::SickScanImu::isImuAckDatagram	(	char *	datagram,
		size_t	datagram_length
	)

Definition at line 130 of file sick_generic_imu.cpp.

isImuAsciiDatagram()

bool sick_scan::SickScanImu::isImuAsciiDatagram	(	char *	datagram,
		size_t	datagram_length
	)

Checking ASCII diagram for imu message type.

Parameters

datagram	Pointer to datagram data
datagram_length	Number of bytes in datagram

Returns

bool flag holding prof result (false -> no ascii imu datagram, true -> ascii imu datagram)

Definition at line 266 of file sick_generic_imu.cpp.

isImuBinaryDatagram()

bool sick_scan::SickScanImu::isImuBinaryDatagram	(	char *	datagram,
		size_t	datagram_length
	)

Checking ASCII diagram for imu message type.

Parameters

datagram	Pointer to datagram data
datagram_length	Number of bytes in datagram

Returns

bool flag holding prof result (false -> no ascii imu datagram, true -> ascii imu datagram)

Definition at line 160 of file sick_generic_imu.cpp.

isImuDatagram()

bool sick_scan::SickScanImu::isImuDatagram	(	char *	datagram,
		size_t	datagram_length
	)

Definition at line 85 of file sick_generic_imu.cpp.

parseAsciiDatagram()

int sick_scan::SickScanImu::parseAsciiDatagram	(	char *	datagram,
		size_t	datagram_length,
		SickScanImuValue *	imuValue
	)

Parsing Ascii datagram.

Parameters

datagram	Pointer to datagram data
datagram_length	Number of bytes in datagram

Definition at line 293 of file sick_generic_imu.cpp.

parseBinaryDatagram()

int sick_scan::SickScanImu::parseBinaryDatagram	(	char *	datagram,
		size_t	datagram_length,
		SickScanImuValue *	imuValue
	)

Parsing Ascii datagram.

Parameters

datagram	Pointer to datagram data
datagram_length	Number of bytes in datagram

Definition at line 197 of file sick_generic_imu.cpp.

parseDatagram()

int sick_scan::SickScanImu::parseDatagram	(	ros::Time	timeStamp,
		unsigned char *	receiveBuffer,
		int	actual_length,
		bool	useBinaryProtocol
	)

Definition at line 557 of file sick_generic_imu.cpp.

quaternion2rpyTest()

void sick_scan::SickScanImu::quaternion2rpyTest ( )

static

Test barebone implemetation from quaternio to euler (Roll-Pitch-Yaw-Sequence) to avoid problems using tf.h against bloom. Include tf.h for a full test and uncomment #0 for this case.

Definition at line 437 of file sick_generic_imu.cpp.

simpleFmodTwoPi()

double sick_scan::SickScanImu::simpleFmodTwoPi

(

double

angle

)

Checking angle to be in the interval [-M_PI,M_PI] Of course you can also use fmod, e.g. fmod(angle + M_PI,2*M_PI) - M_PI.

Parameters

angle

Input angle to be checked

Returns

normalized angle value (normalized means here the interval -M_PI,M_PI)

Definition at line 117 of file sick_generic_imu.cpp.

Member Data Documentation

commonPtr

SickScanCommon* sick_scan::SickScanImu::commonPtr

private

Definition at line 213 of file sick_generic_imu.h.

emul

bool sick_scan::SickScanImu::emul

private

Definition at line 214 of file sick_generic_imu.h.

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

• sick_generic_imu.h
• sick_generic_imu.cpp