message_helper.h File Reference

#include <Eigen/Eigen>
#include <Eigen/Geometry>
#include <boost/array.hpp>
#include <sensor_msgs/Imu.h>

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Namespaces
namespace	imu_filter
namespace	imu_filter::message_helper
Functions
static void	imu_filter::message_helper::angularRateFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Vector3d &v)
	retrieve the angular rate from an IMU message
static void	imu_filter::message_helper::eigenPose2Msg (const Eigen::Affine3d &pose, geometry_msgs::PoseStamped &msg)
	Eigen::Affine3d to geometry_msgs::PoseStamped.
static void	imu_filter::message_helper::linearAccelerationFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Vector3d &v)
	retrieve the linear acceleration from an IMU message
template<typename T , size_t r, size_t c>
static void	imu_filter::message_helper::matrixPtrToEigen (const boost::array< T, r *c > &matPtr, Eigen::Matrix< T, r, c > &mat)
	convert from boost array to eigen matrix
static void	imu_filter::message_helper::quaternionFromImuMsg (const sensor_msgs::Imu::ConstPtr &msg, Eigen::Quaterniond &q)
	retrieve the quaternion from an IMU message
static void	imu_filter::message_helper::quaternionToMsg (const Eigen::Quaterniond &q, geometry_msgs::Quaternion &msg)
	convert Eigen Quaternion to geometry_msgs::Quaternion
static void	imu_filter::message_helper::vec3ToMsg (const Eigen::Vector3d &v, geometry_msgs::Vector3 &msg)
	Eigen::Vector3d to geometry_msgs::Vector3.