robotican_hardware::Imu Class Reference

#include <Imu.h>

Inheritance diagram for robotican_hardware::Imu:

List of all members.

Public Member Functions
virtual void	buildDevice ()
virtual void	deviceAck (const DeviceAck *ack)
	Imu (byte id, TransportLayer *transportLayer, uint16_t fusionHz, std::string frameId, bool enableGyro, bool fuseCompass, std::vector< double > imuLinearAccFix, std::vector< double > imuAngularVelocityFix, std::vector< double > imuMagnetometerFix, std::vector< double > imuRotationFix, std::vector< double > imuRotationOffset)
virtual void	update (const DeviceMessage *deviceMessage)
virtual void	write ()
Private Member Functions
void	initArrays ()
bool	onSetImuClib (robotican_hardware_interface::setImuClib::Request &request, robotican_hardware_interface::setImuClib::Response &response)
Private Attributes
tf::TransformBroadcaster	_broadcaster
ros::Publisher	_clibPub
bool	_enableGyro
std::string	_frameId
bool	_fuseCompass
uint16_t	_fusionHz
ros::Publisher	_imuAMQ
double	_imuAngularVelocityFix [3][3]
double	_imuLinearAccFix [3][3]
ros::Publisher	_imuM
double	_imuMagnetometerFix [3][3]
double	_imuRotationFix [3][3]
double	_imuRotationOffset [3]
byte	_imuState
bool	_isStateChange
bool	_isStopClib
ros::ServiceServer	_setImuClibService

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Detailed Description

Definition at line 25 of file Imu.h.

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Constructor & Destructor Documentation

robotican_hardware::Imu::Imu	(	byte	id,
		TransportLayer *	transportLayer,
		uint16_t	fusionHz,
		std::string	frameId,
		bool	enableGyro,
		bool	fuseCompass,
		std::vector< double >	imuLinearAccFix,
		std::vector< double >	imuAngularVelocityFix,
		std::vector< double >	imuMagnetometerFix,
		std::vector< double >	imuRotationFix,
		std::vector< double >	imuRotationOffset
	)

Definition at line 161 of file Imu.cpp.

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Member Function Documentation

void robotican_hardware::Imu::buildDevice

(

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 130 of file Imu.cpp.

void robotican_hardware::Imu::deviceAck

(

const DeviceAck *

ack

)

[virtual]

Reimplemented from robotican_hardware::Device.

Definition at line 148 of file Imu.cpp.

void robotican_hardware::Imu::initArrays

(

)

[private]

Definition at line 246 of file Imu.cpp.

bool robotican_hardware::Imu::onSetImuClib	(	robotican_hardware_interface::setImuClib::Request &	request,
		robotican_hardware_interface::setImuClib::Response &	response
	)		[private]

Definition at line 225 of file Imu.cpp.

void robotican_hardware::Imu::update

(

const DeviceMessage *

deviceMessage

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 9 of file Imu.cpp.

void robotican_hardware::Imu::write

(

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 112 of file Imu.cpp.

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Member Data Documentation

tf::TransformBroadcaster robotican_hardware::Imu::_broadcaster [private]

Definition at line 34 of file Imu.h.

ros::Publisher robotican_hardware::Imu::_clibPub [private]

Definition at line 31 of file Imu.h.

bool robotican_hardware::Imu::_enableGyro [private]

Definition at line 35 of file Imu.h.

std::string robotican_hardware::Imu::_frameId [private]

Definition at line 29 of file Imu.h.

bool robotican_hardware::Imu::_fuseCompass [private]

Definition at line 36 of file Imu.h.

uint16_t robotican_hardware::Imu::_fusionHz [private]

Definition at line 28 of file Imu.h.

ros::Publisher robotican_hardware::Imu::_imuAMQ [private]

Definition at line 32 of file Imu.h.

double robotican_hardware::Imu::_imuAngularVelocityFix[3][3] [private]

Definition at line 40 of file Imu.h.

double robotican_hardware::Imu::_imuLinearAccFix[3][3] [private]

Definition at line 39 of file Imu.h.

ros::Publisher robotican_hardware::Imu::_imuM [private]

Definition at line 33 of file Imu.h.

double robotican_hardware::Imu::_imuMagnetometerFix[3][3] [private]

Definition at line 41 of file Imu.h.

double robotican_hardware::Imu::_imuRotationFix[3][3] [private]

Definition at line 42 of file Imu.h.

double robotican_hardware::Imu::_imuRotationOffset[3] [private]

Definition at line 43 of file Imu.h.

byte robotican_hardware::Imu::_imuState [private]

Definition at line 27 of file Imu.h.

bool robotican_hardware::Imu::_isStateChange [private]

Definition at line 45 of file Imu.h.

bool robotican_hardware::Imu::_isStopClib [private]

Definition at line 37 of file Imu.h.

ros::ServiceServer robotican_hardware::Imu::_setImuClibService [private]

Definition at line 30 of file Imu.h.

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

• Imu.h
• Imu.cpp