Public Member Functions | Private Types | Private Member Functions | Private Attributes
phidgets::ImuRosI Class Reference

#include <imu_ros_i.h>

Inheritance diagram for phidgets::ImuRosI:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool calibrateService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 ImuRosI (ros::NodeHandle nh, ros::NodeHandle nh_private)

Private Types

typedef sensor_msgs::Imu ImuMsg
typedef
geometry_msgs::Vector3Stamped 
MagMsg

Private Member Functions

void attachHandler ()
void calibrate ()
void dataHandler (CPhidgetSpatial_SpatialEventDataHandle *data, int count)
void detachHandler ()
void errorHandler (int error)
void initDevice ()
void phidgetsDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
 Main diagnostic method that takes care of collecting diagnostic data.
void processImuData (CPhidgetSpatial_SpatialEventDataHandle *data, int i)

Private Attributes

double angular_velocity_stdev_
ros::Publisher cal_publisher_
ros::ServiceServer cal_srv_
double cc_gain0_
double cc_gain1_
double cc_gain2_
double cc_mag_field_
double cc_offset0_
double cc_offset1_
double cc_offset2_
double cc_T0_
double cc_T1_
double cc_T2_
double cc_T3_
double cc_T4_
double cc_T5_
diagnostic_updater::Updater diag_updater_
 updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics
int error_number_
std::string frame_id_
ImuMsg imu_msg_
ros::Publisher imu_publisher_
boost::shared_ptr
< diagnostic_updater::TopicDiagnostic
imu_publisher_diag_ptr_
bool initialized_
bool is_connected_
ros::Time last_imu_time_
double linear_acceleration_stdev_
ros::Publisher mag_publisher_
boost::mutex mutex_
ros::NodeHandle nh_
ros::NodeHandle nh_private_
int period_
double target_publish_freq_
ros::Time time_zero_

Detailed Description

Definition at line 23 of file imu_ros_i.h.


Member Typedef Documentation

typedef sensor_msgs::Imu phidgets::ImuRosI::ImuMsg [private]

Definition at line 25 of file imu_ros_i.h.

typedef geometry_msgs::Vector3Stamped phidgets::ImuRosI::MagMsg [private]

Definition at line 26 of file imu_ros_i.h.


Constructor & Destructor Documentation

Definition at line 6 of file imu_ros_i.cpp.


Member Function Documentation

void phidgets::ImuRosI::attachHandler ( ) [private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 249 of file imu_ros_i.cpp.

void phidgets::ImuRosI::calibrate ( ) [private]

Definition at line 157 of file imu_ros_i.cpp.

bool phidgets::ImuRosI::calibrateService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)

Definition at line 150 of file imu_ros_i.cpp.

void phidgets::ImuRosI::dataHandler ( CPhidgetSpatial_SpatialEventDataHandle *  data,
int  count 
) [private, virtual]

Reimplemented from phidgets::Imu.

Definition at line 243 of file imu_ros_i.cpp.

void phidgets::ImuRosI::detachHandler ( ) [private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 261 of file imu_ros_i.cpp.

void phidgets::ImuRosI::errorHandler ( int  error) [private, virtual]

Reimplemented from phidgets::Phidget.

Definition at line 268 of file imu_ros_i.cpp.

void phidgets::ImuRosI::initDevice ( ) [private]

Definition at line 124 of file imu_ros_i.cpp.

Main diagnostic method that takes care of collecting diagnostic data.

Parameters:
statThe stat param is what is the diagnostic tasks are added two. Internally published by the diagnostic_updater package. Added for diagnostics

Definition at line 275 of file imu_ros_i.cpp.

void phidgets::ImuRosI::processImuData ( CPhidgetSpatial_SpatialEventDataHandle *  data,
int  i 
) [private]

Definition at line 171 of file imu_ros_i.cpp.


Member Data Documentation

Definition at line 67 of file imu_ros_i.h.

Definition at line 41 of file imu_ros_i.h.

Definition at line 42 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain0_ [private]

Definition at line 75 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain1_ [private]

Definition at line 76 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_gain2_ [private]

Definition at line 77 of file imu_ros_i.h.

Definition at line 71 of file imu_ros_i.h.

Definition at line 72 of file imu_ros_i.h.

Definition at line 73 of file imu_ros_i.h.

Definition at line 74 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T0_ [private]

Definition at line 78 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T1_ [private]

Definition at line 79 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T2_ [private]

Definition at line 80 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T3_ [private]

Definition at line 81 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T4_ [private]

Definition at line 82 of file imu_ros_i.h.

double phidgets::ImuRosI::cc_T5_ [private]

Definition at line 83 of file imu_ros_i.h.

updater object of class Update. Used to add diagnostic tasks, set ID etc. refer package API. Added for diagnostics

Definition at line 46 of file imu_ros_i.h.

Definition at line 51 of file imu_ros_i.h.

std::string phidgets::ImuRosI::frame_id_ [private]

Definition at line 64 of file imu_ros_i.h.

Definition at line 58 of file imu_ros_i.h.

Definition at line 39 of file imu_ros_i.h.

Definition at line 47 of file imu_ros_i.h.

Definition at line 54 of file imu_ros_i.h.

Definition at line 50 of file imu_ros_i.h.

Definition at line 56 of file imu_ros_i.h.

Definition at line 68 of file imu_ros_i.h.

Definition at line 40 of file imu_ros_i.h.

boost::mutex phidgets::ImuRosI::mutex_ [private]

Definition at line 55 of file imu_ros_i.h.

Definition at line 37 of file imu_ros_i.h.

Definition at line 38 of file imu_ros_i.h.

Definition at line 65 of file imu_ros_i.h.

Definition at line 52 of file imu_ros_i.h.

Definition at line 60 of file imu_ros_i.h.


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


phidgets_imu
Author(s): Ivan Dryanovski
autogenerated on Thu Jun 6 2019 21:57:51