ethzasl-msf - Modular Sensor Fusion: msf_core::IMUHandler< EKFState_T > Class Template Reference

ethzasl-msf - Modular Sensor Fusion

Time delay compensated single and multi sensor fusion framework based on an EKF

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#include <msf_IMUHandler.h>

Inheritance diagram for msf_core::IMUHandler< EKFState_T >:

Public Member Functions
	IMUHandler (MSF_SensorManager< EKFState_T > &mng, const std::string &topic_namespace, const std::string &parameternamespace)
virtual	~IMUHandler ()
virtual bool	initialize ()=0
void	process_imu (const msf_core::Vector3 &linear_acceleration, const msf_core::Vector3 &angular_velocity, const double &msg_stamp, size_t msg_seq)
void	process_state (const msf_core::Vector3 &linear_acceleration, const msf_core::Vector3 &angular_velocity, const msf_core::Vector3 &p, const msf_core::Vector3 &v, const msf_core::Quaternion &q, bool is_already_propagated, const double &msg_stamp, size_t msg_seq)
Public Member Functions inherited from msf_core::SensorHandler< EKFState_T >
	SensorHandler (MSF_SensorManager< EKFState_T > &mng, const std::string &topic_namespace, const std::string &parameternamespace)
virtual	~SensorHandler ()

Protected Attributes
shared_ptr< MSF_Core < EKFState_T > >	core_
Protected Attributes inherited from msf_core::SensorHandler< EKFState_T >
MSF_SensorManager< EKFState_T > &	manager_
int	sensorID
std::string	topic_namespace_
std::string	parameternamespace_

Additional Inherited Members
Public Attributes inherited from msf_core::SensorHandler< EKFState_T >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions inherited from msf_core::SensorHandler< EKFState_T >
void	setSensorID (int ID)
void	sequenceWatchDog (size_t seq, const std::string &topic)

Constructor & Destructor Documentation

template<typename EKFState_T >

msf_core::IMUHandler< EKFState_T >::IMUHandler	(	MSF_SensorManager< EKFState_T > &	mng,
		const std::string &	topic_namespace,
		const std::string &	parameternamespace
	)

inline

template<typename EKFState_T >

virtual msf_core::IMUHandler< EKFState_T >::~IMUHandler ( )

inlinevirtual

Member Function Documentation

template<typename EKFState_T >

virtual bool msf_core::IMUHandler< EKFState_T >::initialize ( )

pure virtual

Implemented in msf_core::IMUHandler_ROS< EKFState_T >.

template<typename EKFState_T >

void msf_core::IMUHandler< EKFState_T >::process_imu	(	const msf_core::Vector3 &	linear_acceleration,
		const msf_core::Vector3 &	angular_velocity,
		const double &	msg_stamp,
		size_t	msg_seq
	)

inline

template<typename EKFState_T >

void msf_core::IMUHandler< EKFState_T >::process_state	(	const msf_core::Vector3 &	linear_acceleration,
		const msf_core::Vector3 &	angular_velocity,
		const msf_core::Vector3 &	p,
		const msf_core::Vector3 &	v,
		const msf_core::Quaternion &	q,
		bool	is_already_propagated,
		const double &	msg_stamp,
		size_t	msg_seq
	)

inline

Member Data Documentation

template<typename EKFState_T >

shared_ptr<MSF_Core<EKFState_T> > msf_core::IMUHandler< EKFState_T >::core_

protected

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

msf_core/include/msf_core/msf_IMUHandler.h