Functions
mrpt_bridge::imu Namespace Reference

Functions

bool mrpt2ros (const CObservationIMU &obj, const std_msgs::Header &msg_header, sensor_msgs::Imu &msg)
 
bool ros2mrpt (const sensor_msgs::Imu &msg, CObservationIMU obj)
 

Function Documentation

◆ mrpt2ros()

bool mrpt_bridge::imu::mrpt2ros ( const CObservationIMU &  obj,
const std_msgs::Header msg_header,
sensor_msgs::Imu &  msg 
)

Convert mrpt::obs::CObservationIMU -> sensor_msgs/Imu The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since COnservationIMU does not contain covariance terms NEED TO fix those.

Returns
true on sucessful conversion, false on any error.

computing acceleration in global navigation frame not in local vehicle frame, might be the other way round

Definition at line 47 of file imu.cpp.

◆ ros2mrpt()

bool mrpt_bridge::imu::ros2mrpt ( const sensor_msgs::Imu &  msg,
CObservationIMU  obj 
)

Convert sensor_msgs/Imu -> mrpt::obs::CObservationIMU // STILL NEED TO WRITE CODE FOR COVARIANCE

Returns
true on sucessful conversion, false on any error.

Definition at line 25 of file imu.cpp.



mrpt_bridge
Author(s): Markus Bader , Raphael Zack
autogenerated on Sun Mar 6 2022 03:48:10