MRPT  1.9.9
imu.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 /*---------------------------------------------------------------
11  APPLICATION: mrpt_ros bridge
12  FILE: imu.h
13  AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
14  ---------------------------------------------------------------*/
15 #pragma once
16 
17 #include <geometry_msgs/Pose.h>
18 #include <geometry_msgs/Quaternion.h>
20 #include <sensor_msgs/Imu.h>
21 #include <cstring> // size_t
22 
23 /// ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
24 /// MRPT message:
25 /// https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h
26 
27 namespace mrpt::ros1bridge
28 {
29 /** \addtogroup mrpt_ros1bridge_grp
30  * @{ */
31 
32 /** Convert sensor_msgs/Imu -> mrpt::obs::CObservationIMU
33  * // STILL NEED TO WRITE CODE FOR COVARIANCE
34  * \return true on sucessful conversion, false on any error.
35  */
36 bool fromROS(const sensor_msgs::Imu& msg, mrpt::obs::CObservationIMU& obj);
37 
38 /** Convert mrpt::obs::CObservationIMU -> sensor_msgs/Imu
39  * The user must supply the "msg_header" field to be copied into the output
40  * message object, since that part does not appear in MRPT classes.
41  *
42  * Since COnservationIMU does not contain covariance terms NEED TO fix those.
43  * \return true on sucessful conversion, false on any error.
44  */
45 bool toROS(
46  const mrpt::obs::CObservationIMU& obj, const std_msgs::Header& msg_header,
47  sensor_msgs::Imu& msg);
48 
49 /** @} */
50 
51 } // namespace mrpt::ros1bridge
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
bool toROS(const mrpt::obs::CObservationGPS &obj, const std_msgs::Header &msg_header, sensor_msgs::NavSatFix &msg)
Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix The user must supply the "msg_header" fie...
Definition: gps.cpp:48
ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github...
Definition: gps.h:28
bool fromROS(const sensor_msgs::NavSatFix &msg, mrpt::obs::CObservationGPS &obj)
Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS.
Definition: gps.cpp:20



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