ImuFilter Class Reference

#include <imu_filter.h>

List of all members.

Public Member Functions
	ImuFilter (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~ImuFilter ()
Private Types
typedef imu_filter_madgwick::ImuFilterMadgwickConfig	FilterConfig
typedef dynamic_reconfigure::Server < FilterConfig >	FilterConfigServer
typedef sensor_msgs::Imu	ImuMsg
typedef message_filters::Subscriber < ImuMsg >	ImuSubscriber
typedef geometry_msgs::Vector3Stamped	MagMsg
typedef message_filters::Subscriber < MagMsg >	MagSubscriber
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime < ImuMsg, MagMsg >	SyncPolicy
Private Member Functions
void	imuCallback (const ImuMsg::ConstPtr &imu_msg_raw)
void	imuMagCallback (const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void	madgwickAHRSupdate (float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt)
void	madgwickAHRSupdateIMU (float gx, float gy, float gz, float ax, float ay, float az, float dt)
void	publishFilteredMsg (const ImuMsg::ConstPtr &imu_msg_raw)
void	publishTransform (const ImuMsg::ConstPtr &imu_msg_raw)
void	reconfigCallback (FilterConfig &config, uint32_t level)
Static Private Member Functions
static float	invSqrt (float x)
Private Attributes
FilterConfigServer	config_server_
double	constant_dt_
std::string	fixed_frame_
double	gain_
std::string	imu_frame_
ros::Publisher	imu_publisher_
boost::shared_ptr< ImuSubscriber >	imu_subscriber_
bool	initialized_
ros::Time	last_time_
boost::shared_ptr< MagSubscriber >	mag_subscriber_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
bool	publish_tf_
double	q0
double	q1
double	q2
double	q3
boost::shared_ptr< Synchronizer >	sync_
tf::TransformBroadcaster	tf_broadcaster_
bool	use_mag_
float	w_bx_
float	w_by_
float	w_bz_
double	zeta_

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Detailed Description

Definition at line 42 of file imu_filter.h.

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Member Typedef Documentation

typedef imu_filter_madgwick::ImuFilterMadgwickConfig ImuFilter::FilterConfig [private]

Definition at line 52 of file imu_filter.h.

typedef dynamic_reconfigure::Server<FilterConfig> ImuFilter::FilterConfigServer [private]

Definition at line 53 of file imu_filter.h.

typedef sensor_msgs::Imu ImuFilter::ImuMsg [private]

Definition at line 44 of file imu_filter.h.

typedef message_filters::Subscriber<ImuMsg> ImuFilter::ImuSubscriber [private]

Definition at line 49 of file imu_filter.h.

typedef geometry_msgs::Vector3Stamped ImuFilter::MagMsg [private]

Definition at line 45 of file imu_filter.h.

typedef message_filters::Subscriber<MagMsg> ImuFilter::MagSubscriber [private]

Definition at line 50 of file imu_filter.h.

typedef message_filters::Synchronizer<SyncPolicy> ImuFilter::Synchronizer [private]

Definition at line 48 of file imu_filter.h.

typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> ImuFilter::SyncPolicy [private]

Definition at line 47 of file imu_filter.h.

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Constructor & Destructor Documentation

ImuFilter::ImuFilter	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 27 of file imu_filter.cpp.

ImuFilter::~ImuFilter

(

)

[virtual]

Definition at line 97 of file imu_filter.cpp.

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Member Function Documentation

void ImuFilter::imuCallback

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 102 of file imu_filter.cpp.

void ImuFilter::imuMagCallback	(	const ImuMsg::ConstPtr &	imu_msg_raw,
		const MagMsg::ConstPtr &	mav_msg
	)		[private]

Definition at line 151 of file imu_filter.cpp.

static float ImuFilter::invSqrt

(

float

x

)

[inline, static, private]

Definition at line 117 of file imu_filter.h.

void ImuFilter::madgwickAHRSupdate	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz,
		float	dt
	)		[private]

Definition at line 234 of file imu_filter.cpp.

void ImuFilter::madgwickAHRSupdateIMU	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	dt
	)		[private]

Definition at line 358 of file imu_filter.cpp.

void ImuFilter::publishFilteredMsg

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 220 of file imu_filter.cpp.

void ImuFilter::publishTransform

(

const ImuMsg::ConstPtr &

imu_msg_raw

)

[private]

Definition at line 207 of file imu_filter.cpp.

void ImuFilter::reconfigCallback	(	FilterConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 430 of file imu_filter.cpp.

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Member Data Documentation

FilterConfigServer ImuFilter::config_server_ [private]

Definition at line 74 of file imu_filter.h.

double ImuFilter::constant_dt_ [private]

Definition at line 84 of file imu_filter.h.

std::string ImuFilter::fixed_frame_ [private]

Definition at line 82 of file imu_filter.h.

double ImuFilter::gain_ [private]

Definition at line 78 of file imu_filter.h.

std::string ImuFilter::imu_frame_ [private]

Definition at line 83 of file imu_filter.h.

ros::Publisher ImuFilter::imu_publisher_ [private]

Definition at line 71 of file imu_filter.h.

boost::shared_ptr<ImuSubscriber> ImuFilter::imu_subscriber_ [private]

Definition at line 68 of file imu_filter.h.

bool ImuFilter::initialized_ [private]

Definition at line 89 of file imu_filter.h.

ros::Time ImuFilter::last_time_ [private]

Definition at line 91 of file imu_filter.h.

boost::shared_ptr<MagSubscriber> ImuFilter::mag_subscriber_ [private]

Definition at line 69 of file imu_filter.h.

boost::mutex ImuFilter::mutex_ [private]

Definition at line 88 of file imu_filter.h.

ros::NodeHandle ImuFilter::nh_ [private]

Definition at line 64 of file imu_filter.h.

ros::NodeHandle ImuFilter::nh_private_ [private]

Definition at line 65 of file imu_filter.h.

bool ImuFilter::publish_tf_ [private]

Definition at line 81 of file imu_filter.h.

double ImuFilter::q0 [private]

Definition at line 90 of file imu_filter.h.

double ImuFilter::q1 [private]

Definition at line 90 of file imu_filter.h.

double ImuFilter::q2 [private]

Definition at line 90 of file imu_filter.h.

double ImuFilter::q3 [private]

Definition at line 90 of file imu_filter.h.

boost::shared_ptr<Synchronizer> ImuFilter::sync_ [private]

Definition at line 67 of file imu_filter.h.

tf::TransformBroadcaster ImuFilter::tf_broadcaster_ [private]

Definition at line 72 of file imu_filter.h.

bool ImuFilter::use_mag_ [private]

Definition at line 80 of file imu_filter.h.

float ImuFilter::w_bx_ [private]

Definition at line 92 of file imu_filter.h.

float ImuFilter::w_by_ [private]

Definition at line 92 of file imu_filter.h.

float ImuFilter::w_bz_ [private]

Definition at line 92 of file imu_filter.h.

double ImuFilter::zeta_ [private]

Definition at line 79 of file imu_filter.h.

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

• imu_filter.h
• imu_filter.cpp