ImuFilterRos Class Reference

#include <imu_filter_ros.h>

List of all members.

Public Member Functions
	ImuFilterRos (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~ImuFilterRos ()
Private Types
typedef imu_filter_madgwick::ImuFilterMadgwickConfig	FilterConfig
typedef dynamic_reconfigure::Server < FilterConfig >	FilterConfigServer
typedef sensor_msgs::Imu	ImuMsg
typedef message_filters::Subscriber < ImuMsg >	ImuSubscriber
typedef sensor_msgs::MagneticField	MagMsg
typedef message_filters::Subscriber < MagMsg >	MagSubscriber
typedef geometry_msgs::Vector3Stamped	MagVectorMsg
typedef message_filters::Subscriber < MagVectorMsg >	MagVectorSubscriber
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime < ImuMsg, MagMsg >	SyncPolicy
Private Member Functions
void	computeRPY (float ax, float ay, float az, float mx, float my, float mz, float &roll, float &pitch, float &yaw)
void	imuCallback (const ImuMsg::ConstPtr &imu_msg_raw)
void	imuMagCallback (const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void	imuMagVectorCallback (const MagVectorMsg::ConstPtr &mag_vector_msg)
void	publishFilteredMsg (const ImuMsg::ConstPtr &imu_msg_raw)
void	publishRawMsg (const ros::Time &t, float roll, float pitch, float yaw)
void	publishTransform (const ImuMsg::ConstPtr &imu_msg_raw)
void	reconfigCallback (FilterConfig &config, uint32_t level)
Private Attributes
boost::shared_ptr < FilterConfigServer >	config_server_
double	constant_dt_
ImuFilter	filter_
std::string	fixed_frame_
std::string	imu_frame_
ros::Publisher	imu_publisher_
boost::shared_ptr< ImuSubscriber >	imu_subscriber_
bool	initialized_
ros::Time	last_time_
geometry_msgs::Vector3	mag_bias_
ros::Publisher	mag_republisher_
boost::shared_ptr< MagSubscriber >	mag_subscriber_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
double	orientation_variance_
bool	publish_debug_topics_
bool	publish_tf_
bool	reverse_tf_
ros::Publisher	rpy_filtered_debug_publisher_
ros::Publisher	rpy_raw_debug_publisher_
boost::shared_ptr< Synchronizer >	sync_
tf2_ros::TransformBroadcaster	tf_broadcaster_
bool	use_mag_
bool	use_magnetic_field_msg_
boost::shared_ptr < MagVectorSubscriber >	vector_mag_subscriber_

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Detailed Description

Definition at line 41 of file imu_filter_ros.h.

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Member Typedef Documentation

typedef imu_filter_madgwick::ImuFilterMadgwickConfig ImuFilterRos::FilterConfig [private]

Definition at line 53 of file imu_filter_ros.h.

typedef dynamic_reconfigure::Server<FilterConfig> ImuFilterRos::FilterConfigServer [private]

Definition at line 54 of file imu_filter_ros.h.

typedef sensor_msgs::Imu ImuFilterRos::ImuMsg [private]

Definition at line 43 of file imu_filter_ros.h.

typedef message_filters::Subscriber<ImuMsg> ImuFilterRos::ImuSubscriber [private]

Definition at line 49 of file imu_filter_ros.h.

typedef sensor_msgs::MagneticField ImuFilterRos::MagMsg [private]

Definition at line 44 of file imu_filter_ros.h.

typedef message_filters::Subscriber<MagMsg> ImuFilterRos::MagSubscriber [private]

Definition at line 50 of file imu_filter_ros.h.

typedef geometry_msgs::Vector3Stamped ImuFilterRos::MagVectorMsg [private]

Definition at line 45 of file imu_filter_ros.h.

typedef message_filters::Subscriber<MagVectorMsg> ImuFilterRos::MagVectorSubscriber [private]

Definition at line 51 of file imu_filter_ros.h.

typedef message_filters::Synchronizer<SyncPolicy> ImuFilterRos::Synchronizer [private]

Definition at line 48 of file imu_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> ImuFilterRos::SyncPolicy [private]

Definition at line 47 of file imu_filter_ros.h.

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Constructor & Destructor Documentation

ImuFilterRos::ImuFilterRos	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 30 of file imu_filter_ros.cpp.

ImuFilterRos::~ImuFilterRos

(

)

[virtual]

Definition at line 133 of file imu_filter_ros.cpp.

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Member Function Documentation

void ImuFilterRos::computeRPY	(	float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz,
		float &	roll,
		float &	pitch,
		float &	yaw
	)		[private]

Definition at line 334 of file imu_filter_ros.cpp.

void ImuFilterRos::imuCallback

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 138 of file imu_filter_ros.cpp.

void ImuFilterRos::imuMagCallback	(	const ImuMsg::ConstPtr &	imu_msg_raw,
		const MagMsg::ConstPtr &	mav_msg
	)		[private]

Definition at line 185 of file imu_filter_ros.cpp.

void ImuFilterRos::imuMagVectorCallback

(

const MagVectorMsg::ConstPtr &

mag_vector_msg

)

[private]

Definition at line 372 of file imu_filter_ros.cpp.

void ImuFilterRos::publishFilteredMsg

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 286 of file imu_filter_ros.cpp.

void ImuFilterRos::publishRawMsg	(	const ros::Time &	t,
		float	roll,
		float	pitch,
		float	yaw
	)		[private]

Definition at line 322 of file imu_filter_ros.cpp.

void ImuFilterRos::publishTransform

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 259 of file imu_filter_ros.cpp.

void ImuFilterRos::reconfigCallback	(	FilterConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 355 of file imu_filter_ros.cpp.

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Member Data Documentation

boost::shared_ptr<FilterConfigServer> ImuFilterRos::config_server_ [private]

Definition at line 81 of file imu_filter_ros.h.

double ImuFilterRos::constant_dt_ [private]

Definition at line 90 of file imu_filter_ros.h.

ImuFilter ImuFilterRos::filter_ [private]

Definition at line 101 of file imu_filter_ros.h.

std::string ImuFilterRos::fixed_frame_ [private]

Definition at line 88 of file imu_filter_ros.h.

std::string ImuFilterRos::imu_frame_ [private]

Definition at line 89 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::imu_publisher_ [private]

Definition at line 78 of file imu_filter_ros.h.

boost::shared_ptr<ImuSubscriber> ImuFilterRos::imu_subscriber_ [private]

Definition at line 69 of file imu_filter_ros.h.

bool ImuFilterRos::initialized_ [private]

Definition at line 97 of file imu_filter_ros.h.

ros::Time ImuFilterRos::last_time_ [private]

Definition at line 98 of file imu_filter_ros.h.

geometry_msgs::Vector3 ImuFilterRos::mag_bias_ [private]

Definition at line 92 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::mag_republisher_ [private]

Definition at line 74 of file imu_filter_ros.h.

boost::shared_ptr<MagSubscriber> ImuFilterRos::mag_subscriber_ [private]

Definition at line 70 of file imu_filter_ros.h.

boost::mutex ImuFilterRos::mutex_ [private]

Definition at line 96 of file imu_filter_ros.h.

ros::NodeHandle ImuFilterRos::nh_ [private]

Definition at line 65 of file imu_filter_ros.h.

ros::NodeHandle ImuFilterRos::nh_private_ [private]

Definition at line 66 of file imu_filter_ros.h.

double ImuFilterRos::orientation_variance_ [private]

Definition at line 93 of file imu_filter_ros.h.

bool ImuFilterRos::publish_debug_topics_ [private]

Definition at line 91 of file imu_filter_ros.h.

bool ImuFilterRos::publish_tf_ [private]

Definition at line 86 of file imu_filter_ros.h.

bool ImuFilterRos::reverse_tf_ [private]

Definition at line 87 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::rpy_filtered_debug_publisher_ [private]

Definition at line 76 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::rpy_raw_debug_publisher_ [private]

Definition at line 77 of file imu_filter_ros.h.

boost::shared_ptr<Synchronizer> ImuFilterRos::sync_ [private]

Definition at line 68 of file imu_filter_ros.h.

tf2_ros::TransformBroadcaster ImuFilterRos::tf_broadcaster_ [private]

Definition at line 79 of file imu_filter_ros.h.

bool ImuFilterRos::use_mag_ [private]

Definition at line 84 of file imu_filter_ros.h.

bool ImuFilterRos::use_magnetic_field_msg_ [private]

Definition at line 85 of file imu_filter_ros.h.

boost::shared_ptr<MagVectorSubscriber> ImuFilterRos::vector_mag_subscriber_ [private]

Definition at line 73 of file imu_filter_ros.h.

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

• imu_filter_ros.h
• imu_filter_ros.cpp