multisense_ros::Imu Class Reference

#include <imu.h>

Public Member Functions
	Imu (crl::multisense::Channel *driver, std::string tf_prefix)
void	imuCallback (const crl::multisense::imu::Header &header)
	~Imu ()

Private Member Functions
void	startStreams ()
void	stopStreams ()

Private Attributes
const std::string	accel_frameId_
ros::Publisher	accelerometer_pub_
ros::Publisher	accelerometer_vector_pub_
ros::NodeHandle	device_nh_
crl::multisense::Channel *	driver_
const std::string	gyro_frameId_
ros::Publisher	gyroscope_pub_
ros::Publisher	gyroscope_vector_pub_
sensor_msgs::Imu	imu_message_
ros::NodeHandle	imu_nh_
ros::Publisher	imu_pub_
const std::string	mag_frameId_
ros::Publisher	magnetometer_pub_
ros::Publisher	magnetometer_vector_pub_
std::mutex	sub_lock_
const std::string	tf_prefix_
int32_t	total_subscribers_

Detailed Description

Definition at line 48 of file imu.h.

Constructor & Destructor Documentation

multisense_ros::Imu::Imu	(	crl::multisense::Channel *	driver,
		std::string	tf_prefix
	)

Definition at line 53 of file imu.cpp.

multisense_ros::Imu::~Imu

(

)

Definition at line 168 of file imu.cpp.

Member Function Documentation

void multisense_ros::Imu::imuCallback

(

const crl::multisense::imu::Header &

header

)

Definition at line 174 of file imu.cpp.

void multisense_ros::Imu::startStreams ( )

private

Definition at line 271 of file imu.cpp.

void multisense_ros::Imu::stopStreams ( )

private

Definition at line 286 of file imu.cpp.

Member Data Documentation

const std::string multisense_ros::Imu::accel_frameId_

private

Definition at line 101 of file imu.h.

ros::Publisher multisense_ros::Imu::accelerometer_pub_

private

Definition at line 72 of file imu.h.

ros::Publisher multisense_ros::Imu::accelerometer_vector_pub_

private

Definition at line 82 of file imu.h.

ros::NodeHandle multisense_ros::Imu::device_nh_

private

Definition at line 66 of file imu.h.

crl::multisense::Channel* multisense_ros::Imu::driver_

private

Definition at line 61 of file imu.h.

const std::string multisense_ros::Imu::gyro_frameId_

private

Definition at line 102 of file imu.h.

ros::Publisher multisense_ros::Imu::gyroscope_pub_

private

Definition at line 73 of file imu.h.

ros::Publisher multisense_ros::Imu::gyroscope_vector_pub_

private

Definition at line 83 of file imu.h.

sensor_msgs::Imu multisense_ros::Imu::imu_message_

private

Definition at line 88 of file imu.h.

ros::NodeHandle multisense_ros::Imu::imu_nh_

private

Definition at line 67 of file imu.h.

ros::Publisher multisense_ros::Imu::imu_pub_

private

Definition at line 78 of file imu.h.

const std::string multisense_ros::Imu::mag_frameId_

private

Definition at line 103 of file imu.h.

ros::Publisher multisense_ros::Imu::magnetometer_pub_

private

Definition at line 74 of file imu.h.

ros::Publisher multisense_ros::Imu::magnetometer_vector_pub_

private

Definition at line 84 of file imu.h.

std::mutex multisense_ros::Imu::sub_lock_

private

Definition at line 93 of file imu.h.

const std::string multisense_ros::Imu::tf_prefix_

private

Definition at line 100 of file imu.h.

int32_t multisense_ros::Imu::total_subscribers_

private

Definition at line 94 of file imu.h.

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

• imu.h
• imu.cpp