imu_tools::ComplementaryFilterROS Class Reference

#include <complementary_filter_ros.h>

Public Member Functions
	ComplementaryFilterROS (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
virtual	~ComplementaryFilterROS ()

Private Types
typedef sensor_msgs::Imu	ImuMsg
typedef message_filters::Subscriber< ImuMsg >	ImuSubscriber
typedef sensor_msgs::MagneticField	MagMsg
typedef message_filters::Subscriber< MagMsg >	MagSubscriber
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Imu, MagMsg >	MySyncPolicy
typedef message_filters::Synchronizer< SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime< ImuMsg, MagMsg >	SyncPolicy

Private Member Functions
tf::Quaternion	hamiltonToTFQuaternion (double q0, double q1, double q2, double q3) const
void	imuCallback (const ImuMsg::ConstPtr &imu_msg_raw)
void	imuMagCallback (const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void	initializeParams ()
void	publish (const sensor_msgs::Imu::ConstPtr &imu_msg_raw)

Private Attributes
double	constant_dt_
ComplementaryFilter	filter_
std::string	fixed_frame_
ros::Publisher	imu_publisher_
boost::shared_ptr< ImuSubscriber >	imu_subscriber_
bool	initialized_filter_
boost::shared_ptr< MagSubscriber >	mag_subscriber_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
double	orientation_variance_
bool	publish_debug_topics_
bool	publish_tf_
bool	reverse_tf_
ros::Publisher	rpy_publisher_
ros::Publisher	state_publisher_
boost::shared_ptr< Synchronizer >	sync_
tf::TransformBroadcaster	tf_broadcaster_
ros::Time	time_prev_
bool	use_mag_

Detailed Description

Definition at line 49 of file complementary_filter_ros.h.

Member Typedef Documentation

typedef sensor_msgs::Imu imu_tools::ComplementaryFilterROS::ImuMsg

private

Definition at line 59 of file complementary_filter_ros.h.

typedef message_filters::Subscriber<ImuMsg> imu_tools::ComplementaryFilterROS::ImuSubscriber

private

Definition at line 66 of file complementary_filter_ros.h.

typedef sensor_msgs::MagneticField imu_tools::ComplementaryFilterROS::MagMsg

private

Definition at line 60 of file complementary_filter_ros.h.

typedef message_filters::Subscriber<MagMsg> imu_tools::ComplementaryFilterROS::MagSubscriber

private

Definition at line 67 of file complementary_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Imu, MagMsg> imu_tools::ComplementaryFilterROS::MySyncPolicy

private

Definition at line 62 of file complementary_filter_ros.h.

typedef message_filters::Synchronizer<SyncPolicy> imu_tools::ComplementaryFilterROS::Synchronizer

private

Definition at line 65 of file complementary_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> imu_tools::ComplementaryFilterROS::SyncPolicy

private

Definition at line 64 of file complementary_filter_ros.h.

Constructor & Destructor Documentation

imu_tools::ComplementaryFilterROS::ComplementaryFilterROS	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Definition at line 39 of file complementary_filter_ros.cpp.

imu_tools::ComplementaryFilterROS::~ComplementaryFilterROS ( )

virtual

Definition at line 86 of file complementary_filter_ros.cpp.

Member Function Documentation

tf::Quaternion imu_tools::ComplementaryFilterROS::hamiltonToTFQuaternion ( double  q0, double  q1, double  q2, double  q3  ) const

private

Definition at line 218 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::imuCallback ( const ImuMsg::ConstPtr &  imu_msg_raw )

private

Definition at line 154 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::imuMagCallback ( const ImuMsg::ConstPtr &  imu_msg_raw, const MagMsg::ConstPtr &  mav_msg  )

private

Definition at line 184 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::initializeParams ( )

private

Definition at line 91 of file complementary_filter_ros.cpp.

void imu_tools::ComplementaryFilterROS::publish ( const sensor_msgs::Imu::ConstPtr &  imu_msg_raw )

private

Definition at line 226 of file complementary_filter_ros.cpp.

Member Data Documentation

double imu_tools::ComplementaryFilterROS::constant_dt_

private

Definition at line 86 of file complementary_filter_ros.h.

ComplementaryFilter imu_tools::ComplementaryFilterROS::filter_

private

Definition at line 92 of file complementary_filter_ros.h.

std::string imu_tools::ComplementaryFilterROS::fixed_frame_

private

Definition at line 88 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::imu_publisher_

private

Definition at line 77 of file complementary_filter_ros.h.

boost::shared_ptr<ImuSubscriber> imu_tools::ComplementaryFilterROS::imu_subscriber_

private

Definition at line 74 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::initialized_filter_

private

Definition at line 94 of file complementary_filter_ros.h.

boost::shared_ptr<MagSubscriber> imu_tools::ComplementaryFilterROS::mag_subscriber_

private

Definition at line 75 of file complementary_filter_ros.h.

ros::NodeHandle imu_tools::ComplementaryFilterROS::nh_

private

Definition at line 70 of file complementary_filter_ros.h.

ros::NodeHandle imu_tools::ComplementaryFilterROS::nh_private_

private

Definition at line 71 of file complementary_filter_ros.h.

double imu_tools::ComplementaryFilterROS::orientation_variance_

private

Definition at line 89 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::publish_debug_topics_

private

Definition at line 87 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::publish_tf_

private

Definition at line 84 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::reverse_tf_

private

Definition at line 85 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::rpy_publisher_

private

Definition at line 78 of file complementary_filter_ros.h.

ros::Publisher imu_tools::ComplementaryFilterROS::state_publisher_

private

Definition at line 79 of file complementary_filter_ros.h.

boost::shared_ptr<Synchronizer> imu_tools::ComplementaryFilterROS::sync_

private

Definition at line 73 of file complementary_filter_ros.h.

tf::TransformBroadcaster imu_tools::ComplementaryFilterROS::tf_broadcaster_

private

Definition at line 80 of file complementary_filter_ros.h.

ros::Time imu_tools::ComplementaryFilterROS::time_prev_

private

Definition at line 93 of file complementary_filter_ros.h.

bool imu_tools::ComplementaryFilterROS::use_mag_

private

Definition at line 83 of file complementary_filter_ros.h.

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

• complementary_filter_ros.h
• complementary_filter_ros.cpp