.. _program_listing_file_include_ros2_ouster_OS1_processors_imu_processor.hpp:

Program Listing for File imu_processor.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_OS1_processors_imu_processor.hpp>` (``include/ros2_ouster/OS1/processors/imu_processor.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020, Steve Macenski
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROS2_OUSTER__OS1__PROCESSORS__IMU_PROCESSOR_HPP_
   #define ROS2_OUSTER__OS1__PROCESSORS__IMU_PROCESSOR_HPP_
   
   #include <vector>
   #include <memory>
   #include <string>
   
   #include "ros2_ouster/conversions.hpp"
   
   #include "rclcpp/qos.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   
   #include "ros2_ouster/interfaces/data_processor_interface.hpp"
   
   namespace OS1
   {
   
   class IMUProcessor : public ros2_ouster::DataProcessorInterface
   {
   public:
     IMUProcessor(
       const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
       const ros2_ouster::Metadata & mdata,
       const std::string & frame,
       const rclcpp::QoS & qos)
     : DataProcessorInterface(), _node(node), _frame(frame)
     {
       _pub = node->create_publisher<sensor_msgs::msg::Imu>("imu", qos);
     }
   
     ~IMUProcessor()
     {
       _pub.reset();
     }
   
     bool process(uint8_t * data, uint64_t override_ts) override
     {
       if (_pub->get_subscription_count() > 0 && _pub->is_activated()) {
         _pub->publish(ros2_ouster::toMsg(data, _frame, override_ts));
       }
       return true;
     }
   
     void onActivate() override
     {
       _pub->on_activate();
     }
   
     void onDeactivate() override
     {
       _pub->on_deactivate();
     }
   
   private:
     rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Imu>::SharedPtr _pub;
     rclcpp_lifecycle::LifecycleNode::SharedPtr _node;
     std::string _frame;
   };
   
   }  // namespace OS1
   
   #endif  // ROS2_OUSTER__OS1__PROCESSORS__IMU_PROCESSOR_HPP_