inertial_sense.h File Reference

#include <stdio.h>
#include <iostream>
#include <algorithm>
#include <string>
#include <cstdlib>
#include "InertialSense.h"
#include "ros/ros.h"
#include "ros/timer.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/MagneticField.h"
#include "sensor_msgs/FluidPressure.h"
#include "sensor_msgs/JointState.h"
#include "inertial_sense/GPS.h"
#include "inertial_sense/GPSInfo.h"
#include "inertial_sense/PreIntIMU.h"
#include "inertial_sense/FirmwareUpdate.h"
#include "inertial_sense/refLLAUpdate.h"
#include "inertial_sense/RTKRel.h"
#include "inertial_sense/RTKInfo.h"
#include "inertial_sense/GNSSEphemeris.h"
#include "inertial_sense/GlonassEphemeris.h"
#include "inertial_sense/GNSSObservation.h"
#include "inertial_sense/GNSSObsVec.h"
#include "inertial_sense/INL2States.h"
#include "nav_msgs/Odometry.h"
#include "std_srvs/Trigger.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Vector3Stamped.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include "diagnostic_msgs/DiagnosticArray.h"
#include <tf/transform_broadcaster.h>

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Classes
class	InertialSenseROS
struct	InertialSenseROS::ros_stream_t

Macros
#define	GPS_UNIX_OFFSET   315964800
#define	LEAP_SECONDS   18
#define	SET_CALLBACK(DID, __type, __cb_fun, __periodmultiple)
#define	UNIX_TO_GPS_OFFSET   (GPS_UNIX_OFFSET - LEAP_SECONDS)

Macro Definition Documentation

GPS_UNIX_OFFSET

#define GPS_UNIX_OFFSET   315964800

Definition at line 38 of file inertial_sense.h.

LEAP_SECONDS

#define LEAP_SECONDS   18

Definition at line 39 of file inertial_sense.h.

SET_CALLBACK

#define SET_CALLBACK	(		DID,
			__type,
			__cb_fun,
			__periodmultiple
	)

Value:

IS_.BroadcastBinaryData(DID, __periodmultiple, \
    [this](InertialSense*i, p_data_t* data, int pHandle)\
    { \
       /* ROS_INFO("Got message %d", DID);*/\
       this->__cb_fun(reinterpret_cast<__type*>(data->buf));\
    })

Definition at line 42 of file inertial_sense.h.

UNIX_TO_GPS_OFFSET

#define UNIX_TO_GPS_OFFSET   (GPS_UNIX_OFFSET - LEAP_SECONDS)

Definition at line 40 of file inertial_sense.h.