Public Member Functions | Private Member Functions | Private Attributes
OrientationFilter Class Reference

#include <orientation_filter.h>

List of all members.

Public Member Functions

 OrientationFilter ()
 Calculates the roll and pitch of the base and the pitch of the sensor tower from CARL's IMUs.

Private Member Functions

void baseImuCallback (const sensor_msgs::Imu::ConstPtr &data)
void topImuCallback (const sensor_msgs::Imu::ConstPtr &data)

Private Attributes

ros::Subscriber baseImuSubscriber
bool baseOrientationInitialized
ros::Publisher frameJointStatePublisher
sensor_msgs::JointState jointStates
ros::NodeHandle n
bool output
float PPrev [2]
float PPrevTop
ros::Time prevUpdateTime
ros::Time prevUpdateTimeTop
ros::Subscriber topImuSubscriber

Detailed Description

Definition at line 27 of file orientation_filter.h.


Constructor & Destructor Documentation

Calculates the roll and pitch of the base and the pitch of the sensor tower from CARL's IMUs.

Constructor

.cpp orientation_filter creates a ROS node that measures orientations for the base and sensor tower by combining and filtering accelerometer and gyro data.

Author:
David Kent - davidkent@wpi.edu
Date:
January 13, 2015

Definition at line 14 of file orientation_filter.cpp.


Member Function Documentation

void OrientationFilter::baseImuCallback ( const sensor_msgs::Imu::ConstPtr &  data) [private]

Base IMU callback.

Parameters:
datadata from the base IMU

Definition at line 103 of file orientation_filter.cpp.

void OrientationFilter::topImuCallback ( const sensor_msgs::Imu::ConstPtr &  data) [private]

Top IMU callback.

Parameters:
datadata from the top IMU

Definition at line 41 of file orientation_filter.cpp.


Member Data Documentation

Subscriber for data from the base IMU

Definition at line 53 of file orientation_filter.h.

Definition at line 57 of file orientation_filter.h.

joint state publisher for various parts of CARL's frame

Definition at line 52 of file orientation_filter.h.

sensor_msgs::JointState OrientationFilter::jointStates [private]

Definition at line 56 of file orientation_filter.h.

Definition at line 50 of file orientation_filter.h.

bool OrientationFilter::output [private]

Definition at line 58 of file orientation_filter.h.

float OrientationFilter::PPrev[2] [private]

Definition at line 62 of file orientation_filter.h.

float OrientationFilter::PPrevTop [private]

Definition at line 61 of file orientation_filter.h.

Definition at line 60 of file orientation_filter.h.

Definition at line 59 of file orientation_filter.h.

Subscriber for data from the top IMU

Definition at line 54 of file orientation_filter.h.


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


carl_phidgets
Author(s): David Kent , Russell Toris
autogenerated on Thu Jun 6 2019 21:09:54