magnetometer_compass::MagnetometerCompass Class Reference

Convert magnetometer and IMU measurements to azimuth. More...

#include <magnetometer_compass.h>

Inheritance diagram for magnetometer_compass::MagnetometerCompass:

Public Member Functions
virtual cras::expected< compass_msgs::Azimuth, std::string >	computeAzimuth (const sensor_msgs::Imu &imu, const sensor_msgs::MagneticField &magUnbiased)
	Compute azimuth from the provided IMU and magnetometer measurements. More...
virtual void	configFromParams (const cras::BoundParamHelper &params)
	Configure the bias remover from ROS parameters. More...
	MagnetometerCompass (const cras::LogHelperPtr &log, const std::string &frame, const std::shared_ptr< cras::InterruptibleTFBuffer > &tf)
	Create the compass. More...
	MagnetometerCompass (const cras::LogHelperPtr &log, const std::string &frame, const std::shared_ptr< tf2::BufferCore > &tf)
	Create the compass. More...
virtual void	reset ()
	Reset the computation (i.e. the low-pass filter and estimated variance). More...
virtual void	setLowPassRatio (double ratio)
	The azimuth is filtered with a low-pass filter. This sets its aggressivity. More...
virtual	~MagnetometerCompass ()
Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	HasLogger (const ::cras::LogHelperPtr &log)
void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
virtual void	updateVariance ()
	Re-estimate variance after adding a new measurement. More...

Private Attributes
std::unique_ptr< MagnetometerCompassPrivate >	data
	PIMPL. More...

Additional Inherited Members
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Convert magnetometer and IMU measurements to azimuth.

Definition at line 30 of file magnetometer_compass.h.

Constructor & Destructor Documentation

MagnetometerCompass() [1/2]

magnetometer_compass::MagnetometerCompass::MagnetometerCompass	(	const cras::LogHelperPtr &	log,
		const std::string &	frame,
		const std::shared_ptr< tf2::BufferCore > &	tf
	)

Create the compass.

Parameters

[in]	log	Logger.
[in]	frame	The target frame in which the azimuth is expressed. Its Z axis should approx. point upwards. Azimuth is the angle between magnetic North and this frame's X axis.
[in]	tf	TF buffer for transforming incoming data to frame. If you are sure data are already in the target frame, you can pass an empty buffer.

MagnetometerCompass() [2/2]

magnetometer_compass::MagnetometerCompass::MagnetometerCompass	(	const cras::LogHelperPtr &	log,
		const std::string &	frame,
		const std::shared_ptr< cras::InterruptibleTFBuffer > &	tf
	)

Create the compass.

Parameters

[in]	log	Logger.
[in]	frame	The target frame in which the azimuth is expressed. Its Z axis should approx. point upwards. Azimuth is the angle between magnetic North and this frame's X axis.
[in]	tf	TF buffer for transforming incoming data to frame. If you are sure data are already in the target frame, you can pass an empty buffer.

~MagnetometerCompass()

virtual magnetometer_compass::MagnetometerCompass::~MagnetometerCompass ( )

virtual

Member Function Documentation

computeAzimuth()

virtual cras::expected<compass_msgs::Azimuth, std::string> magnetometer_compass::MagnetometerCompass::computeAzimuth ( const sensor_msgs::Imu &  imu, const sensor_msgs::MagneticField &  magUnbiased  )

virtual

Compute azimuth from the provided IMU and magnetometer measurements.

Parameters

[in]	imu	IMU tied to the magnetometer. It has to contain valid orientation.
[in]	magUnbiased	Magnetometer measurement with removed bias.

Returns

The computed azimuth, or an error message. The azimuth will be in radians and NED frame.

Note

The function does not check time synchronization of the two inputs.

Both inputs have to be transformable to the configured target frame.

configFromParams()

virtual void magnetometer_compass::MagnetometerCompass::configFromParams ( const cras::BoundParamHelper &  params )

virtual

Configure the bias remover from ROS parameters.

Parameters

[in]

params

The parameters.

The following parameters are read:

• ~initial_variance (double, default 0): Variance of the measurement used at startup (in rad^2).
• ~low_pass_ratio (double, default 0.95): The azimuth is filtered with a low-pass filter. This sets its aggressivity (0 means raw measurements, 1 means no updates).

reset()

virtual void magnetometer_compass::MagnetometerCompass::reset ( )

virtual

Reset the computation (i.e. the low-pass filter and estimated variance).

setLowPassRatio()

virtual void magnetometer_compass::MagnetometerCompass::setLowPassRatio ( double  ratio )

virtual

The azimuth is filtered with a low-pass filter. This sets its aggressivity.

Parameters

[in]

ratio

The ratio (0 means raw measurements, 1 means no updates).

updateVariance()

virtual void magnetometer_compass::MagnetometerCompass::updateVariance ( )

protectedvirtual

Re-estimate variance after adding a new measurement.

Note

This is not yet implemented.

Member Data Documentation

data

std::unique_ptr<MagnetometerCompassPrivate> magnetometer_compass::MagnetometerCompass::data

private

PIMPL.

Definition at line 98 of file magnetometer_compass.h.

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

• magnetometer_compass.h