orientationincrementspublisher.h

Go to the documentation of this file.

 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#ifndef ORIENTATIONINCREMENTSPUBLISHER_H
#define ORIENTATIONINCREMENTSPUBLISHER_H
 
#include "packetcallback.h"
#include <geometry_msgs/QuaternionStamped.h>
 
struct OrientationIncrementsPublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
 
    OrientationIncrementsPublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<geometry_msgs::QuaternionStamped>("imu/dq", pub_queue_size);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsOrientationIncrement())
        {
            geometry_msgs::QuaternionStamped msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsQuaternion dq = packet.orientationIncrement();
 
            msg.quaternion.w = dq.w();
            msg.quaternion.x = dq.x();
            msg.quaternion.y = dq.y();
            msg.quaternion.z = dq.z();
 
            pub.publish(msg);
        }
    }
};
 
#endif