Struct AzimuthPublishersConfig

• Defined in File magnetometer_compass_nodelet.hpp

Struct Documentation

struct AzimuthPublishersConfig

Public Functions

AzimuthPublishersConfig()

void init(rclcpp::Node::SharedPtr namespace_node, rclcpp::Node *param_node, const std::shared_ptr<compass_conversions::CompassConverter> &converter, const std::string &paramPrefix, const std::string &topicPrefix, uint8_t reference, const std::string &referenceStr)

void publishAzimuths(const Az &nedAzimuth, const Imu &imuInBody)

Public Members

std::shared_ptr<compass_conversions::CompassConverter> converter

rclcpp::Node::SharedPtr namespace_node

rclcpp::Node *param_node

AzimuthPublishersConfigForOrientation ned

AzimuthPublishersConfigForOrientation enu

bool publish = {false}

const tf2::Quaternion nedToEnu = {-M_SQRT2 / 2, -M_SQRT2 / 2, 0, 0}

const tf2::Quaternion enuToNed = {this->nedToEnu.inverse()}