ethzasl-msf - Modular Sensor Fusion: msf_core::IMUHandler_ROS< 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_ROS.h>

Inheritance diagram for msf_core::IMUHandler_ROS< EKFState_T >:

Public Member Functions
	IMUHandler_ROS (MSF_SensorManager< EKFState_T > &mng, const std::string &topic_namespace, const std::string &parameternamespace)
virtual	~IMUHandler_ROS ()
void	stateCallback (const sensor_fusion_comm::ExtEkfConstPtr &msg)
void	imuCallback_asctec (const asctec_hl_comm::mav_imuConstPtr &msg)
void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
virtual bool	initialize ()
Public Member Functions inherited from msf_core::IMUHandler< EKFState_T >
	IMUHandler (MSF_SensorManager< EKFState_T > &mng, const std::string &topic_namespace, const std::string &parameternamespace)
virtual	~IMUHandler ()
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 ()

Private Attributes
ros::Subscriber	subState_
	subscriber to external state propagation
ros::Subscriber	subImu_
	subscriber to IMU readings
ros::Subscriber	subImuCustom_
	subscriber to IMU readings for asctec custom

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)
Protected Attributes inherited from msf_core::IMUHandler< EKFState_T >
shared_ptr< MSF_Core < EKFState_T > >	core_

Constructor & Destructor Documentation

template<typename EKFState_T >

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

inline

template<typename EKFState_T >

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

inlinevirtual

Member Function Documentation

template<typename EKFState_T >

void msf_core::IMUHandler_ROS< EKFState_T >::imuCallback ( const sensor_msgs::ImuConstPtr & msg )

inline

template<typename EKFState_T >

void msf_core::IMUHandler_ROS< EKFState_T >::imuCallback_asctec ( const asctec_hl_comm::mav_imuConstPtr & msg )

inline

template<typename EKFState_T >

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

inlinevirtual

Implements msf_core::IMUHandler< EKFState_T >.

template<typename EKFState_T >

void msf_core::IMUHandler_ROS< EKFState_T >::stateCallback ( const sensor_fusion_comm::ExtEkfConstPtr & msg )

inline

Member Data Documentation

template<typename EKFState_T >

ros::Subscriber msf_core::IMUHandler_ROS< EKFState_T >::subImu_

private

template<typename EKFState_T >

ros::Subscriber msf_core::IMUHandler_ROS< EKFState_T >::subImuCustom_

private

template<typename EKFState_T >

ros::Subscriber msf_core::IMUHandler_ROS< EKFState_T >::subState_

private

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

msf_core/include/msf_core/msf_IMUHandler_ROS.h