imu_filter.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/src/
imu__filter_8cpp.html
imu_filter_madgwick/imu_filter.h
static void
addGradientDescentStep
imu__filter_8cpp.html
a7b3b9d9d993364acfbc46ac40ad3460a
(float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float mx, float my, float mz, float &s0, float &s1, float &s2, float &s3)
static void
compensateGyroDrift
imu__filter_8cpp.html
adf1d14255d51504fdc47c101c3e7c851
(float q0, float q1, float q2, float q3, float s0, float s1, float s2, float s3, float dt, float zeta, float &w_bx, float &w_by, float &w_bz, float &gx, float &gy, float &gz)
static void
compensateMagneticDistortion
imu__filter_8cpp.html
a9836163d62310f5a5312ed46e39fd3d3
(float q0, float q1, float q2, float q3, float mx, float my, float mz, float &_2bxy, float &_2bz)
static float
invSqrt
imu__filter_8cpp.html
ae4a5639f3a7d6e127e0b5999bccb0962
(float x)
static void
normalizeQuaternion
imu__filter_8cpp.html
ab76610d28b3851115fb8164d9464cbd9
(T &q0, T &q1, T &q2, T &q3)
static void
normalizeVector
imu__filter_8cpp.html
a87d8b0487f3489e4e0347971af06630a
(T &vx, T &vy, T &vz)
static void
orientationChangeFromGyro
imu__filter_8cpp.html
abe04c5275181b3fc0b46509be83fac25
(float q0, float q1, float q2, float q3, float gx, float gy, float gz, float &qDot1, float &qDot2, float &qDot3, float &qDot4)
static void
rotateAndScaleVector
imu__filter_8cpp.html
a93be776bcbf39146cd8e3a6cea664254
(float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float &rx, float &ry, float &rz)
imu_filter.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/include/imu_filter_madgwick/
imu__filter_8h.html
imu_filter_madgwick/world_frame.h
ImuFilter
imu_filter_node.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/src/
imu__filter__node_8cpp.html
imu_filter_madgwick/imu_filter_ros.h
int
main
imu__filter__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
imu_filter_nodelet.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/src/
imu__filter__nodelet_8cpp.html
imu_filter_madgwick/imu_filter_nodelet.h
imu_filter_nodelet.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/include/imu_filter_madgwick/
imu__filter__nodelet_8h.html
imu_filter_madgwick/imu_filter_ros.h
ImuFilterNodelet
imu_filter_ros.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/src/
imu__filter__ros_8cpp.html
imu_filter_madgwick/imu_filter_ros.h
imu_filter_madgwick/stateless_orientation.h
imu_filter_ros.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/include/imu_filter_madgwick/
imu__filter__ros_8h.html
imu_filter_madgwick/imu_filter.h
ImuFilterRos
madgwick_test.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/test/
madgwick__test_8cpp.html
imu_filter_madgwick/imu_filter.h
test_helpers.h
#define
FILTER_ITERATIONS
madgwick__test_8cpp.html
a905ad6ef7d641170a725daa3176bec04
#define
TEST_STATIONARY_ENU
madgwick__test_8cpp.html
aa28b75bacf4e434b4007ed5a724cf542
(in_am, exp_result)
#define
TEST_STATIONARY_NED
madgwick__test_8cpp.html
ae0e476783723f5881db15acacd1e3d6d
(in_am, exp_result)
#define
TEST_STATIONARY_NWU
madgwick__test_8cpp.html
a00efb8dc717f81b4f344cff28f8ddcec
(in_am, exp_result)
void
filterStationary
madgwick__test_8cpp.html
a4e0fed9ea4b9a9c58385fc20c2c38ef4
(float Ax, float Ay, float Az, double &q0, double &q1, double &q2, double &q3)
void
filterStationary
madgwick__test_8cpp.html
abf87f4cbd49b400c057ed1abe0fa6aff
(float Ax, float Ay, float Az, float Mx, float My, float Mz, double &q0, double &q1, double &q2, double &q3)
int
main
madgwick__test_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST
madgwick__test_8cpp.html
a8fe97c22e1d674e5a6677cb53f93a684
(MadgwickTest, TestQuatEqNoZ)
stateless_orientation.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/src/
stateless__orientation_8cpp.html
imu_filter_madgwick/stateless_orientation.h
static void
crossProduct
stateless__orientation_8cpp.html
acd543d2ba1f054a1f0e95632ac8b588d
(T ax, T ay, T az, T bx, T by, T bz, T &rx, T &ry, T &rz)
static T
normalizeVector
stateless__orientation_8cpp.html
ae5a6c1558ccd48e04abfd644a447554c
(T &vx, T &vy, T &vz)
stateless_orientation.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/include/imu_filter_madgwick/
stateless__orientation_8h.html
imu_filter_madgwick/world_frame.h
StatelessOrientation
stateless_orientation_test.cpp
/tmp/ws/src/imu_tools/imu_filter_madgwick/test/
stateless__orientation__test_8cpp.html
imu_filter_madgwick/stateless_orientation.h
test_helpers.h
#define
TEST_STATELESS_ENU
stateless__orientation__test_8cpp.html
a36912e98afaf6211b6841a1cf629b25f
(in_am, exp_result)
#define
TEST_STATELESS_NED
stateless__orientation__test_8cpp.html
a90c94da3e08b6825ef43cd99b1e0e6ab
(in_am, exp_result)
#define
TEST_STATELESS_NWU
stateless__orientation__test_8cpp.html
a5300e322cfc7d2885442595213c6f277
(in_am, exp_result)
bool
computeOrientation
stateless__orientation__test_8cpp.html
ae887b76df9da117373b67655b08511f7
(float Ax, float Ay, float Az, double &q0, double &q1, double &q2, double &q3)
bool
computeOrientation
stateless__orientation__test_8cpp.html
ada21c79af464427c2afdcef88e9b9fee
(float Ax, float Ay, float Az, float Mx, float My, float Mz, double &q0, double &q1, double &q2, double &q3)
TEST
stateless__orientation__test_8cpp.html
a6cb153303f4dd54195a13e2407bb167e
(StatelessOrientationTest, Check_NoAccel)
TEST
stateless__orientation__test_8cpp.html
a8713ee7203c88ab03fd06fb469e1cc00
(StatelessOrientationTest, Check_NoMag)
test_helpers.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/test/
test__helpers_8h.html
#define
ACCEL_ONLY
test__helpers_8h.html
aa36082ff0167ab01f1afa353a9bac52f
(ax, ay, az, mx, my, mz)
#define
AM_EAST_NORTH_UP
test__helpers_8h.html
a03b648e26565f4be169fc714a94d526a
#define
AM_NE_NW_UP_RSD
test__helpers_8h.html
ac687cb748c73b62c6437eb2509c9bc37
#define
AM_NORTH_EAST_DOWN
test__helpers_8h.html
ab8936dc9f9ea0c2f681969d075bc6fc0
#define
AM_NORTH_WEST_UP
test__helpers_8h.html
a21193ba92d896a8d91a4494a2eacbc96
#define
AM_SOUTH_EAST_UP
test__helpers_8h.html
ae5e34eca59cdcc4ddebf9751255eda15
#define
AM_SOUTH_UP_WEST
test__helpers_8h.html
a7b278c841c95a74e864e19d5309e952c
#define
AM_WEST_NORTH_DOWN
test__helpers_8h.html
a8c3233ab16ce5368298db88988f4fe09
#define
AM_WEST_NORTH_DOWN_RSD
test__helpers_8h.html
ad4a2937402e84ea3ef9085a4e8856cc9
#define
ASSERT_IS_NORMALIZED
test__helpers_8h.html
abc8f09dbcc51fb86810f1f1c8e14d6bb
(...)
#define
ASSERT_IS_NORMALIZED_
test__helpers_8h.html
aa50d48c0bf46ab64b91c76bad4894e5f
(q0, q1, q2, q3)
#define
ASSERT_QUAT_EQUAL
test__helpers_8h.html
ab63cef8a0f4d203c3e1d57cedbb483af
(...)
#define
ASSERT_QUAT_EQUAL_
test__helpers_8h.html
a802533095914d57c997eeaab2f77eceb
(q0, q1, q2, q3, qr0, qr1, qr2, qr3)
#define
ASSERT_QUAT_EQUAL_EX_Z
test__helpers_8h.html
ae4f85b96ac306968662a217c54fee2dd
(...)
#define
ASSERT_QUAT_EQUAL_EX_Z_
test__helpers_8h.html
a487a041ec17e3cb3cac4bd57924f9524
(q0, q1, q2, q3, qr0, qr1, qr2, qr3)
#define
MAX_DIFF
test__helpers_8h.html
a1605a24e037309a2d85ed0e8dfcb6926
#define
QUAT_IDENTITY
test__helpers_8h.html
ac2e1d40b86daf357f0cdaa47e189e40a
#define
QUAT_MZ_90
test__helpers_8h.html
a4178445ec8ac1ac6731bb29e3f99e738
#define
QUAT_NE_NW_UP_RSD_ENU
test__helpers_8h.html
a0ffd3baab3828b7e0a52977ae27c1df1
#define
QUAT_NE_NW_UP_RSD_NED
test__helpers_8h.html
af4b3beee988ee7217615e3c9092fddc1
#define
QUAT_NE_NW_UP_RSD_NWU
test__helpers_8h.html
a18ef44a4ebc15c3619fb22348510a9c4
#define
QUAT_WEST_NORTH_DOWN_RSD_ENU
test__helpers_8h.html
ad4248ba787e0edaf748bcc9011ba1d72
#define
QUAT_WEST_NORTH_DOWN_RSD_NED
test__helpers_8h.html
abb466f2a300127cc49f89eb989322e22
#define
QUAT_WEST_NORTH_DOWN_RSD_NWU
test__helpers_8h.html
aebc72645d14f7d264902e2c8bd440fea
#define
QUAT_X_180
test__helpers_8h.html
a0df6135af60646641ce871c65797301a
#define
QUAT_XMYMZ_120
test__helpers_8h.html
ac02e3300ed12ed6526a4646acfc8bea7
static bool
is_normalized
test__helpers_8h.html
adda58b03d3db8efe2ee8594710ec9fe8
(T q0, T q1, T q2, T q3)
static void
normalize_quaternion
test__helpers_8h.html
a12a09cf1ddeb9b251b8f4188132e802b
(T &q0, T &q1, T &q2, T &q3)
static bool
quat_eq_ex_z
test__helpers_8h.html
aa8fa4c49d13ffcb239ca701620dc99ec
(T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3)
static bool
quat_equal
test__helpers_8h.html
a4ece6e372a7d58f4b092e23f8203d315
(T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3)
world_frame.h
/tmp/ws/src/imu_tools/imu_filter_madgwick/include/imu_filter_madgwick/
world__frame_8h.html
WorldFrame
WorldFrame
namespaceWorldFrame.html
aa7531807eb3e9d912ba2b856e6e17360
ENU
namespaceWorldFrame.html
aa7531807eb3e9d912ba2b856e6e17360a8eff14d27f5e998a1c7da2b2013039a7
NED
namespaceWorldFrame.html
aa7531807eb3e9d912ba2b856e6e17360a2cb9950a0470eac84f6863dd1ecbd4e1
NWU
namespaceWorldFrame.html
aa7531807eb3e9d912ba2b856e6e17360a876f648a1ec4a5bfabfd75ca7bc4510b
ImuFilter
classImuFilter.html
void
getGravity
classImuFilter.html
afd19cb6be1a7ff7b1a55395203bde66e
(float &rx, float &ry, float &rz, float gravity=9.80665)
void
getOrientation
classImuFilter.html
ae9bf1470296199a64d8f697f065b078e
(double &q0, double &q1, double &q2, double &q3)
ImuFilter
classImuFilter.html
a9ef1499930bc2c394897fe9666ba454d
()
void
madgwickAHRSupdate
classImuFilter.html
a89baff09b58433f8e75cb2ab38d7da7a
(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt)
void
madgwickAHRSupdateIMU
classImuFilter.html
a384213561c5d1398e81516b36567e12f
(float gx, float gy, float gz, float ax, float ay, float az, float dt)
void
reset
classImuFilter.html
a7c8d0a2fbee6d6ad24110a66d6785d9c
()
void
setAlgorithmGain
classImuFilter.html
a9995c95ff2d3a5a7c8be9d9a6733c626
(double gain)
void
setDriftBiasGain
classImuFilter.html
a96203a05b9e3b1d5478599bb4ab11858
(double zeta)
void
setOrientation
classImuFilter.html
a451359c224f0808c0083f807d5d9594b
(double q0, double q1, double q2, double q3)
void
setWorldFrame
classImuFilter.html
a7e1b5c65006545ccae49c09decae46fa
(WorldFrame::WorldFrame frame)
virtual
~ImuFilter
classImuFilter.html
aecb23423ef453bdbeb642a2b4ba52b17
()
double
gain_
classImuFilter.html
add542723639d992adaca021eb8450751
double
q0
classImuFilter.html
a0219a4035b2bbffec181c1c562d5fda0
double
q1
classImuFilter.html
a508ff6a6db3f5ef0391a60c90db74d87
double
q2
classImuFilter.html
a1596e17282a280f65a8d03261bc5983e
double
q3
classImuFilter.html
a658737549a24cced81b61602d001cc6e
float
w_bx_
classImuFilter.html
a157ace157564e75935f8b67731eaed96
float
w_by_
classImuFilter.html
aaecbe63d90ee8f823bd6cb6a741905c9
float
w_bz_
classImuFilter.html
aafad884167117727ccd3e32b73aba2eb
WorldFrame::WorldFrame
world_frame_
classImuFilter.html
ae25ff9bff5d015354f01b1420d88b419
double
zeta_
classImuFilter.html
a2c7a5549262b09840229532f70bb8e40
ImuFilterNodelet
classImuFilterNodelet.html
nodelet::Nodelet
virtual void
onInit
classImuFilterNodelet.html
a7e7d3d2e957305337c9d72d65ecbf04f
()
boost::shared_ptr< ImuFilterRos >
filter_
classImuFilterNodelet.html
a65ba8ee8e59335e3ccba1ca652eaadd9
ImuFilterRos
classImuFilterRos.html
ImuFilterRos
classImuFilterRos.html
aca192b64842325a0fd161c64c6eb95f3
(ros::NodeHandle nh, ros::NodeHandle nh_private)
void
reset
classImuFilterRos.html
a776bb733738334b72fbb3f98e0f637fe
()
virtual
~ImuFilterRos
classImuFilterRos.html
a8db0bc92f9671bb165067f198a995ed8
()
imu_filter_madgwick::ImuFilterMadgwickConfig
FilterConfig
classImuFilterRos.html
ab7236e28ecd702a8bfb26e3af734edec
dynamic_reconfigure::Server< FilterConfig >
FilterConfigServer
classImuFilterRos.html
a7782e6a81204f9580131cad9f9de939a
sensor_msgs::Imu
ImuMsg
classImuFilterRos.html
abfc5e859893f3c3ef09185467dceb4c2
message_filters::Subscriber< ImuMsg >
ImuSubscriber
classImuFilterRos.html
a158618b28f70882e047b73b2088c0365
sensor_msgs::MagneticField
MagMsg
classImuFilterRos.html
aeba6bb0a3556dc96ee9fba3ffd51d4a7
message_filters::Subscriber< MagMsg >
MagSubscriber
classImuFilterRos.html
a6c633a96d0e9af430a316d44df1da2cf
message_filters::Synchronizer< SyncPolicy >
Synchronizer
classImuFilterRos.html
ab4f3db868d4a28d4d36552622ff833c4
message_filters::sync_policies::ApproximateTime< ImuMsg, MagMsg >
SyncPolicy
classImuFilterRos.html
a1e3f0a096180a36e37030da50c6cd235
void
applyYawOffset
classImuFilterRos.html
ab611fcb2f232214f5c347bf0ad827402
(double &q0, double &q1, double &q2, double &q3)
void
checkTimeJump
classImuFilterRos.html
a3cc0f589426fabfcd4f2de07903db974
()
void
checkTopicsTimerCallback
classImuFilterRos.html
a639532d133ea6c2ee57900e354e44453
(const ros::TimerEvent &)
void
imuCallback
classImuFilterRos.html
a8470fa5ad76478c859e7ba30a6e8f859
(const ImuMsg::ConstPtr &imu_msg_raw)
void
imuMagCallback
classImuFilterRos.html
a82641b4e7d6cfeff030ebc182aa0d0a4
(const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void
publishFilteredMsg
classImuFilterRos.html
a6c903ab411c343b52ec4f094c3b1e596
(const ImuMsg::ConstPtr &imu_msg_raw)
void
publishOrientationFiltered
classImuFilterRos.html
a0316c86bfbdc0aaaa79ab4b9661909c2
(const ImuMsg::ConstPtr &imu_msg)
void
publishRawMsg
classImuFilterRos.html
a6677279c8c94e6ec7aa69a08828c4117
(const ros::Time &t, float roll, float pitch, float yaw)
void
publishTransform
classImuFilterRos.html
a4d4e22e5dfd1fb7dec76bc4890de6dfd
(const ImuMsg::ConstPtr &imu_msg_raw)
void
reconfigCallback
classImuFilterRos.html
af244d06d12d778a5fbcfca92ea5986f6
(FilterConfig &config, uint32_t level)
ros::Timer
check_topics_timer_
classImuFilterRos.html
a08e65c662ba2de51c8920a5792381fd8
boost::shared_ptr< FilterConfigServer >
config_server_
classImuFilterRos.html
a818f1e42b8ee3014bd20a6a7c9d6d9d9
double
constant_dt_
classImuFilterRos.html
a3a5b4520d5567f8f9f2a648ef854de3c
ImuFilter
filter_
classImuFilterRos.html
a7e0aa1610e35224635707dfe5878ef07
std::string
fixed_frame_
classImuFilterRos.html
ace26ae08e7b80f10f1ed99eb4b52ac80
std::string
imu_frame_
classImuFilterRos.html
aa195939424d131dcba613a0aeb333549
ros::Publisher
imu_publisher_
classImuFilterRos.html
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boost::shared_ptr< ImuSubscriber >
imu_subscriber_
classImuFilterRos.html
ab393fc4895c5d79fdc6957ca2de8bd70
bool
initialized_
classImuFilterRos.html
a066464ff314db7d24034e4f09d6973bf
ros::Time
last_ros_time_
classImuFilterRos.html
ad44fb7bc9e4d12ed71b1bde8f5f46d45
ros::Time
last_time_
classImuFilterRos.html
ac783b0a462747186cdeaf94dec51b75f
geometry_msgs::Vector3
mag_bias_
classImuFilterRos.html
aa45c5bffb003874a21d787346dfc7c97
boost::shared_ptr< MagSubscriber >
mag_subscriber_
classImuFilterRos.html
a20992e8840560ee71dcf648051300793
boost::mutex
mutex_
classImuFilterRos.html
aa72fe0412aed37b5bc9513bfd9555b60
ros::NodeHandle
nh_
classImuFilterRos.html
ae536702e196a6fa393f5da5d0b178c65
ros::NodeHandle
nh_private_
classImuFilterRos.html
a7dbfd1bcc017eae28b866df31084f6cc
ros::Publisher
orientation_filtered_publisher_
classImuFilterRos.html
a4d9bbfc5d9c1d2b3b27e465688974d8e
double
orientation_variance_
classImuFilterRos.html
a06cf83e6aee43fe02ceee26f67597965
bool
publish_debug_topics_
classImuFilterRos.html
af3f4b76d8987521b69da3721d9f5172d
bool
publish_tf_
classImuFilterRos.html
adad0fcdb2d767a8ce4b933c790578ebf
bool
remove_gravity_vector_
classImuFilterRos.html
a49d347b3cb5e5f69d710a3301acd58b9
bool
reverse_tf_
classImuFilterRos.html
af160962168be5081f8e75a3b603a2e40
ros::Publisher
rpy_filtered_debug_publisher_
classImuFilterRos.html
a25ff2807a96ffcbd5bed736251d68a25
ros::Publisher
rpy_raw_debug_publisher_
classImuFilterRos.html
a6aede517a937dbd40daf8a50e62a5691
bool
stateless_
classImuFilterRos.html
a9d8c54f5c6070bfc17e3a4f816cead24
boost::shared_ptr< Synchronizer >
sync_
classImuFilterRos.html
abd5c9349702bc5398306acff077f55e2
tf2_ros::TransformBroadcaster
tf_broadcaster_
classImuFilterRos.html
a597b455247c3b1a8fa81de8616584e77
tf2_ros::Buffer
tf_buffer_
classImuFilterRos.html
a26008834e74f7760c2609904792e10b2
tf2_ros::TransformListener
tf_listener_
classImuFilterRos.html
a4f66a90d52dfb3be3b5415a23a4b0ee0
ros::Duration
time_jump_threshold_
classImuFilterRos.html
a50dac2e24dfcb652e9bc03f22ff8c27e
bool
use_mag_
classImuFilterRos.html
a5c8e1f3b2abd2e73ac71962c42cf6f97
WorldFrame::WorldFrame
world_frame_
classImuFilterRos.html
ac66bddba1aa5c8dd7e0ededcbf84628b
double
yaw_offset_total_
classImuFilterRos.html
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tf2::Quaternion
yaw_offsets_
classImuFilterRos.html
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StatelessOrientation
classStatelessOrientation.html
static bool
computeOrientation
classStatelessOrientation.html
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(WorldFrame::WorldFrame frame, geometry_msgs::Vector3 acceleration, geometry_msgs::Quaternion &orientation)
static bool
computeOrientation
classStatelessOrientation.html
adb1283810fd058a92be655c1b10a925e
(WorldFrame::WorldFrame frame, geometry_msgs::Vector3 acceleration, geometry_msgs::Vector3 magneticField, geometry_msgs::Quaternion &orientation)
WorldFrame
namespaceWorldFrame.html
WorldFrame
namespaceWorldFrame.html
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ENU
namespaceWorldFrame.html
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NED
namespaceWorldFrame.html
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NWU
namespaceWorldFrame.html
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