CalibrateMag sensor class. More...

#include <mag_cal.h>

Public Member Functions
const double	a11 () const
	The const stuff is to make it read-only. More...

const double	a12 () const

const double	a13 () const

const double	a21 () const

const double	a22 () const

const double	a23 () const

const double	a31 () const

const double	a32 () const

const double	a33 () const

const double	bx () const

const double	by () const

const double	bz () const

	CalibrateMag ()

void	do_mag_calibration ()

bool	is_calibrating ()
	Check if a calibration is in progress. More...

bool	mag_callback (const sensor_msgs::MagneticField::ConstPtr &mag)
	set_refence_magnetic_field_strength More...

void	run ()

void	set_reference_magnetic_field_strength (double reference_magnetic_field)

void	start_mag_calibration ()
	Begin the magnetometer calibration routine. More...

Private Member Functions
void	eigSort (Eigen::MatrixXd &w, Eigen::MatrixXd &v)

Eigen::MatrixXd	ellipsoidLS (EigenSTL::vector_Vector3d meas)

Eigen::MatrixXd	ellipsoidRANSAC (EigenSTL::vector_Vector3d meas, int iters, double inlier_thresh)

Eigen::Vector3d	intersect (Eigen::Vector3d r_m, Eigen::Vector3d r_e, Eigen::MatrixXd Q, Eigen::MatrixXd ub, double k)

void	magCal (Eigen::MatrixXd u, Eigen::MatrixXd &A, Eigen::MatrixXd &bb)

bool	set_param (std::string name, double value)

Private Attributes
Eigen::MatrixXd	A_

Eigen::MatrixXd	b_

bool	calibrating_
	whether a temperature calibration is in progress More...

double	calibration_time_
	seconds to record data for temperature compensation More...

bool	first_time_
	waiting for first measurement for calibration More...

double	inlier_thresh_
	threshold to consider measurement an inlier in ellipsoidRANSAC More...

ros::ServiceServer	mag_cal_srv_

message_filters::Subscriber< sensor_msgs::MagneticField >	mag_subscriber_

Eigen::Vector3d	measurement_prev_

int	measurement_skip_

int	measurement_throttle_

EigenSTL::vector_Vector3d	measurements_

ros::NodeHandle	nh_

ros::NodeHandle	nh_private_

ros::ServiceClient	param_set_client_

int	ransac_iters_
	number of ransac iterations to fit ellipsoid to mag measurements More...

double	reference_field_strength_
	the strength of earth's magnetic field at your location More...

double	start_time_
	timestamp of first calibration measurement More...

Detailed Description

CalibrateMag sensor class.

Definition at line 62 of file mag_cal.h.

Constructor & Destructor Documentation

◆ CalibrateMag()

rosflight::CalibrateMag::CalibrateMag ( )

Definition at line 43 of file mag_cal.cpp.

Member Function Documentation

◆ a11()

const double rosflight::CalibrateMag::a11 ( ) const

inline

The const stuff is to make it read-only.

Definition at line 91 of file mag_cal.h.

◆ a12()

const double rosflight::CalibrateMag::a12 ( ) const

inline

Definition at line 92 of file mag_cal.h.

◆ a13()

const double rosflight::CalibrateMag::a13 ( ) const

inline

Definition at line 93 of file mag_cal.h.

◆ a21()

const double rosflight::CalibrateMag::a21 ( ) const

inline

Definition at line 94 of file mag_cal.h.

◆ a22()

const double rosflight::CalibrateMag::a22 ( ) const

inline

Definition at line 95 of file mag_cal.h.

◆ a23()

const double rosflight::CalibrateMag::a23 ( ) const

inline

Definition at line 96 of file mag_cal.h.

◆ a31()

const double rosflight::CalibrateMag::a31 ( ) const

inline

Definition at line 97 of file mag_cal.h.

◆ a32()

const double rosflight::CalibrateMag::a32 ( ) const

inline

Definition at line 98 of file mag_cal.h.

◆ a33()

const double rosflight::CalibrateMag::a33 ( ) const

inline

Definition at line 99 of file mag_cal.h.

◆ bx()

const double rosflight::CalibrateMag::bx ( ) const

inline

Definition at line 100 of file mag_cal.h.

◆ by()

const double rosflight::CalibrateMag::by ( ) const

inline

Definition at line 101 of file mag_cal.h.

◆ bz()

const double rosflight::CalibrateMag::bz ( ) const

inline

Definition at line 102 of file mag_cal.h.

◆ do_mag_calibration()

void rosflight::CalibrateMag::do_mag_calibration ( )

Definition at line 148 of file mag_cal.cpp.

◆ eigSort()

void rosflight::CalibrateMag::eigSort	(	Eigen::MatrixXd &	w,
		Eigen::MatrixXd &	v
	)

private

Definition at line 338 of file mag_cal.cpp.

◆ ellipsoidLS()

Eigen::MatrixXd rosflight::CalibrateMag::ellipsoidLS ( EigenSTL::vector_Vector3d meas )

private

Definition at line 389 of file mag_cal.cpp.

◆ ellipsoidRANSAC()

Eigen::MatrixXd rosflight::CalibrateMag::ellipsoidRANSAC	(	EigenSTL::vector_Vector3d	meas,
		int	iters,
		double	inlier_thresh
	)

private

Definition at line 198 of file mag_cal.cpp.

◆ intersect()

Eigen::Vector3d rosflight::CalibrateMag::intersect	(	Eigen::Vector3d	r_m,
		Eigen::Vector3d	r_e,
		Eigen::MatrixXd	Q,
		Eigen::MatrixXd	ub,
		double	k
	)

private

Definition at line 315 of file mag_cal.cpp.

◆ is_calibrating()

bool rosflight::CalibrateMag::is_calibrating ( )

inline

Check if a calibration is in progress.

Returns: True if a calibration is currently in progress

Definition at line 88 of file mag_cal.h.

◆ mag_callback()

bool rosflight::CalibrateMag::mag_callback ( const sensor_msgs::MagneticField::ConstPtr & mag )

set_refence_magnetic_field_strength

Parameters

reference_magnetic_field

Definition at line 159 of file mag_cal.cpp.

◆ magCal()

void rosflight::CalibrateMag::magCal	(	Eigen::MatrixXd	u,
		Eigen::MatrixXd &	A,
		Eigen::MatrixXd &	bb
	)

private

Definition at line 463 of file mag_cal.cpp.

◆ run()

void rosflight::CalibrateMag::run ( )

Definition at line 61 of file mag_cal.cpp.

◆ set_param()

bool rosflight::CalibrateMag::set_param	(	std::string	name,
		double	value
	)

private

Definition at line 506 of file mag_cal.cpp.

◆ set_reference_magnetic_field_strength()

void rosflight::CalibrateMag::set_reference_magnetic_field_strength ( double reference_magnetic_field )

Definition at line 132 of file mag_cal.cpp.

◆ start_mag_calibration()

void rosflight::CalibrateMag::start_mag_calibration ( )

Begin the magnetometer calibration routine.

Definition at line 137 of file mag_cal.cpp.

Member Data Documentation

◆ A_

Eigen::MatrixXd rosflight::CalibrateMag::A_

private

Definition at line 115 of file mag_cal.h.

◆ b_

Eigen::MatrixXd rosflight::CalibrateMag::b_

private

Definition at line 115 of file mag_cal.h.

◆ calibrating_

bool rosflight::CalibrateMag::calibrating_

private

whether a temperature calibration is in progress

Definition at line 119 of file mag_cal.h.

◆ calibration_time_

double rosflight::CalibrateMag::calibration_time_

private

seconds to record data for temperature compensation

Definition at line 121 of file mag_cal.h.

◆ first_time_

bool rosflight::CalibrateMag::first_time_

private

waiting for first measurement for calibration

Definition at line 120 of file mag_cal.h.

◆ inlier_thresh_

double rosflight::CalibrateMag::inlier_thresh_

private

threshold to consider measurement an inlier in ellipsoidRANSAC

Definition at line 126 of file mag_cal.h.

◆ mag_cal_srv_

ros::ServiceServer rosflight::CalibrateMag::mag_cal_srv_

private

Definition at line 112 of file mag_cal.h.

◆ mag_subscriber_

message_filters::Subscriber<sensor_msgs::MagneticField> rosflight::CalibrateMag::mag_subscriber_

private

Definition at line 110 of file mag_cal.h.

◆ measurement_prev_

Eigen::Vector3d rosflight::CalibrateMag::measurement_prev_

private

Definition at line 127 of file mag_cal.h.

◆ measurement_skip_

int rosflight::CalibrateMag::measurement_skip_

private

Definition at line 124 of file mag_cal.h.

◆ measurement_throttle_

int rosflight::CalibrateMag::measurement_throttle_

private

Definition at line 125 of file mag_cal.h.

◆ measurements_

EigenSTL::vector_Vector3d rosflight::CalibrateMag::measurements_

private

Definition at line 128 of file mag_cal.h.

◆ nh_

ros::NodeHandle rosflight::CalibrateMag::nh_

private

Definition at line 107 of file mag_cal.h.

◆ nh_private_

ros::NodeHandle rosflight::CalibrateMag::nh_private_

private

Definition at line 108 of file mag_cal.h.

◆ param_set_client_

ros::ServiceClient rosflight::CalibrateMag::param_set_client_

private

Definition at line 113 of file mag_cal.h.

◆ ransac_iters_

int rosflight::CalibrateMag::ransac_iters_

private

number of ransac iterations to fit ellipsoid to mag measurements

Definition at line 123 of file mag_cal.h.

◆ reference_field_strength_

double rosflight::CalibrateMag::reference_field_strength_

private

the strength of earth's magnetic field at your location

Definition at line 117 of file mag_cal.h.

◆ start_time_

double rosflight::CalibrateMag::start_time_

private

timestamp of first calibration measurement

Definition at line 122 of file mag_cal.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CalibrateMag()

Member Function Documentation

◆ a11()

◆ a12()

◆ a13()

◆ a21()

◆ a22()

◆ a23()

◆ a31()

◆ a32()

◆ a33()

◆ bx()

◆ by()

◆ bz()

◆ do_mag_calibration()

◆ eigSort()

◆ ellipsoidLS()

◆ ellipsoidRANSAC()

◆ intersect()

◆ is_calibrating()

◆ mag_callback()

◆ magCal()

◆ run()

◆ set_param()

◆ set_reference_magnetic_field_strength()

◆ start_mag_calibration()

Member Data Documentation

◆ A_

◆ b_

◆ calibrating_

◆ calibration_time_

◆ first_time_

◆ inlier_thresh_

◆ mag_cal_srv_

◆ mag_subscriber_

◆ measurement_prev_

◆ measurement_skip_

◆ measurement_throttle_

◆ measurements_

◆ nh_

◆ nh_private_

◆ param_set_client_

◆ ransac_iters_

◆ reference_field_strength_

◆ start_time_