magnetometer_pipeline::MagnetometerBiasRemover Class Reference

Remove known bias from 3-axis magnetometer. More...

#include <bias_remover.h>

Inheritance diagram for magnetometer_pipeline::MagnetometerBiasRemover:

Public Member Functions
void	configFromParams (const cras::BoundParamHelper &params)
	Configure the bias remover from ROS parameters. More...
bool	hasBias () const
	Whether bias has already been set. More...
bool	hasScale () const
	Whether bias has already been set and is different from identity. More...
	MagnetometerBiasRemover (const cras::LogHelperPtr &log)
cras::expected< sensor_msgs::MagneticField, std::string >	removeBias (const sensor_msgs::MagneticField &mag)
	Callback for magnetometer measurements. More...
void	setBias (const sensor_msgs::MagneticField &bias)
	Callback for magnetometer bias. More...
virtual	~MagnetometerBiasRemover ()
Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	HasLogger (const ::cras::LogHelperPtr &log)
void	setCrasLogger (const ::cras::LogHelperPtr &log)

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

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

Detailed Description

Remove known bias from 3-axis magnetometer.

Definition at line 26 of file bias_remover.h.

Constructor & Destructor Documentation

MagnetometerBiasRemover()

magnetometer_pipeline::MagnetometerBiasRemover::MagnetometerBiasRemover ( const cras::LogHelperPtr &  log )

explicit

~MagnetometerBiasRemover()

virtual magnetometer_pipeline::MagnetometerBiasRemover::~MagnetometerBiasRemover ( )

virtual

Member Function Documentation

configFromParams()

void magnetometer_pipeline::MagnetometerBiasRemover::configFromParams

(

const cras::BoundParamHelper &

params

)

Configure the bias remover from ROS parameters.

Parameters

[in]

params

The parameters.

The following parameters are read:

• ~initial_mag_bias_x (double, no default, optional): Magnetometer bias in the X axis.
• ~initial_mag_bias_y (double, no default, optional): Magnetometer bias in the Y axis.
• ~initial_mag_bias_z (double, no default, optional): Magnetometer bias in the Z axis.
• ~initial_scaling_matrix (double[9], optional): Magnetometer scaling matrix (row-major).

hasBias()

bool magnetometer_pipeline::MagnetometerBiasRemover::hasBias

(

)

const

Whether bias has already been set.

Returns

Whether bias has already been set.

hasScale()

bool magnetometer_pipeline::MagnetometerBiasRemover::hasScale

(

)

const

Whether bias has already been set and is different from identity.

Returns

Whether bias has already been set.

removeBias()

cras::expected<sensor_msgs::MagneticField, std::string> magnetometer_pipeline::MagnetometerBiasRemover::removeBias

(

const sensor_msgs::MagneticField &

mag

)

Callback for magnetometer measurements.

Parameters

[in]

mag

The raw measured magnetic field strength.

Returns

The measured magnetic field corrected for bias, or error message.

setBias()

void magnetometer_pipeline::MagnetometerBiasRemover::setBias

(

const sensor_msgs::MagneticField &

bias

)

Callback for magnetometer bias.

Parameters

[in]

bias

The bias value. If magnetic_field_covariance has non-zero elements, it is interpreted as a row-wise scaling matrix.

Member Data Documentation

data

std::unique_ptr<MagnetometerBiasRemoverPrivate> magnetometer_pipeline::MagnetometerBiasRemover::data

private

PIMPL.

Definition at line 71 of file bias_remover.h.

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

• bias_remover.h