IMUCompass Class Reference

#include <imu_compass.h>

Public Member Functions
	IMUCompass (ros::NodeHandle &n)
	~IMUCompass ()

Private Member Functions
void	debugCallback (const ros::TimerEvent &)
void	declCallback (const std_msgs::Float32 &data)
void	imuCallback (sensor_msgs::ImuPtr data)
void	initFilter (double heading_meas)
void	magCallback (const geometry_msgs::Vector3StampedConstPtr &data)
void	repackageImuPublish (tf::StampedTransform)

Private Attributes
ros::Publisher	compass_pub_
double	curr_heading_
double	curr_heading_variance_
sensor_msgs::ImuPtr	curr_imu_reading_
ros::Timer	debug_timer_
ros::Subscriber	decl_sub_
bool	filter_initialized_
bool	first_gyro_reading_
bool	first_mag_reading_
bool	gyro_update_complete_
double	heading_prediction_
double	heading_prediction_variance_
double	heading_variance_prediction_
ros::Publisher	imu_pub_
ros::Subscriber	imu_sub_
double	last_measurement_update_time_
double	last_motion_update_time_
tf::TransformListener	listener_
double	mag_declination_
ros::Publisher	mag_pub_
ros::Subscriber	mag_sub_
double	mag_zero_x_
double	mag_zero_y_
double	mag_zero_z_
ros::NodeHandle	node_
ros::Publisher	raw_compass_pub_
double	sensor_timeout_
double	yaw_meas_variance_

Detailed Description

Definition at line 34 of file imu_compass.h.

Constructor & Destructor Documentation

IMUCompass::IMUCompass

(

ros::NodeHandle &

n

)

Definition at line 31 of file imu_compass.cpp.

IMUCompass::~IMUCompass ( )

inline

Definition at line 85 of file imu_compass.h.

Member Function Documentation

void IMUCompass::debugCallback ( const ros::TimerEvent &  )

private

Definition at line 68 of file imu_compass.cpp.

void IMUCompass::declCallback ( const std_msgs::Float32 &  data )

private

Definition at line 128 of file imu_compass.cpp.

void IMUCompass::imuCallback ( sensor_msgs::ImuPtr  data )

private

Definition at line 88 of file imu_compass.cpp.

void IMUCompass::initFilter ( double  heading_meas )

private

Definition at line 268 of file imu_compass.cpp.

void IMUCompass::magCallback ( const geometry_msgs::Vector3StampedConstPtr &  data )

private

Definition at line 133 of file imu_compass.cpp.

void IMUCompass::repackageImuPublish ( tf::StampedTransform  transform )

private

Definition at line 236 of file imu_compass.cpp.

Member Data Documentation

ros::Publisher IMUCompass::compass_pub_

private

Definition at line 43 of file imu_compass.h.

double IMUCompass::curr_heading_

private

Definition at line 68 of file imu_compass.h.

double IMUCompass::curr_heading_variance_

private

Definition at line 69 of file imu_compass.h.

sensor_msgs::ImuPtr IMUCompass::curr_imu_reading_

private

Definition at line 64 of file imu_compass.h.

ros::Timer IMUCompass::debug_timer_

private

Definition at line 47 of file imu_compass.h.

ros::Subscriber IMUCompass::decl_sub_

private

Definition at line 40 of file imu_compass.h.

bool IMUCompass::filter_initialized_

private

Definition at line 59 of file imu_compass.h.

bool IMUCompass::first_gyro_reading_

private

Definition at line 58 of file imu_compass.h.

bool IMUCompass::first_mag_reading_

private

Definition at line 57 of file imu_compass.h.

bool IMUCompass::gyro_update_complete_

private

Definition at line 60 of file imu_compass.h.

double IMUCompass::heading_prediction_

private

Definition at line 73 of file imu_compass.h.

double IMUCompass::heading_prediction_variance_

private

Definition at line 75 of file imu_compass.h.

double IMUCompass::heading_variance_prediction_

private

Definition at line 74 of file imu_compass.h.

ros::Publisher IMUCompass::imu_pub_

private

Definition at line 41 of file imu_compass.h.

ros::Subscriber IMUCompass::imu_sub_

private

Definition at line 38 of file imu_compass.h.

double IMUCompass::last_measurement_update_time_

private

Definition at line 78 of file imu_compass.h.

double IMUCompass::last_motion_update_time_

private

Definition at line 77 of file imu_compass.h.

tf::TransformListener IMUCompass::listener_

private

Definition at line 46 of file imu_compass.h.

double IMUCompass::mag_declination_

private

Definition at line 76 of file imu_compass.h.

ros::Publisher IMUCompass::mag_pub_

private

Definition at line 42 of file imu_compass.h.

ros::Subscriber IMUCompass::mag_sub_

private

Definition at line 39 of file imu_compass.h.

double IMUCompass::mag_zero_x_

private

Definition at line 62 of file imu_compass.h.

double IMUCompass::mag_zero_y_

private

Definition at line 62 of file imu_compass.h.

double IMUCompass::mag_zero_z_

private

Definition at line 62 of file imu_compass.h.

ros::NodeHandle IMUCompass::node_

private

Definition at line 37 of file imu_compass.h.

ros::Publisher IMUCompass::raw_compass_pub_

private

Definition at line 44 of file imu_compass.h.

double IMUCompass::sensor_timeout_

private

Definition at line 70 of file imu_compass.h.

double IMUCompass::yaw_meas_variance_

private

Definition at line 81 of file imu_compass.h.

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

• imu_compass.h
• imu_compass.cpp