/home/laradmin/lar/perception/atlascar_egomotion/src/add_imu_odometry_covariance.cpp File Reference

File that adds the IMU odometry covariance to the estimation. More...

#include <sensor_msgs/Imu.h>
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"
#include "ros/macros.h"
#include "ros/assert.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Vector3Stamped.h"
#include "geometry_msgs/QuaternionStamped.h"
#include "geometry_msgs/Pose.h"
#include "tf/tfMessage.h"
#include "tf/tf.h"
#include "ros/ros.h"
#include <boost/shared_ptr.hpp>
#include "common.h"
#include "ros/types.h"
#include <boost/thread/mutex.hpp>
#include <boost/thread/detail/platform.hpp>
#include <boost/config.hpp>
#include <boost/detail/workaround.hpp>
#include "platform.hpp"
#include <boost/config/auto_link.hpp>
#include <list>
#include <deque>
#include "ros/service_traits.h"
#include <boost/thread/detail/config.hpp>
#include <stdexcept>
#include <boost/config/abi_prefix.hpp>
#include <boost/config/abi_suffix.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/type_traits/is_convertible.hpp>
#include <boost/cstdint.hpp>
#include <cstdlib>
#include <ctime>
#include <boost/throw_exception.hpp>
#include <boost/date_time/compiler_config.hpp>
#include "boost/date_time/c_time.hpp"
#include "boost/date_time/time_clock.hpp"
#include "boost/date_time/microsec_time_clock.hpp"
#include <boost/limits.hpp>
#include <boost/config/no_tr1/cmath.hpp>
#include <boost/operators.hpp>
#include <boost/date_time/time_defs.hpp>
#include "boost/date_time/special_defs.hpp"
#include "boost/date_time/locale_config.hpp"
#include <exception>
#include <boost/mpl/if.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include "boost/date_time/constrained_value.hpp"
#include "boost/date_time/year_month_day.hpp"
#include "boost/date_time/date_defs.hpp"
#include <algorithm>
#include <cctype>
#include "boost/date_time/int_adapter.hpp"
#include <boost/date_time/date_duration.hpp>
#include <boost/date_time/date.hpp>
#include <boost/date_time/gregorian/greg_calendar.hpp>
#include <boost/date_time/gregorian/greg_duration.hpp>
#include <boost/date_time/date_duration_types.hpp>
#include "boost/date_time/gregorian/greg_date.hpp"
#include <sstream>
#include <iterator>
#include "boost/date_time/adjust_functors.hpp"
#include <boost/date_time/wrapping_int.hpp>
#include "boost/date_time/gregorian/greg_duration_types.hpp"
#include "boost/date_time/posix_time/ptime.hpp"
#include "boost/date_time/posix_time/posix_time_config.hpp"
#include "boost/date_time/posix_time/posix_time_system.hpp"
#include "boost/date_time/period.hpp"
#include "boost/date_time/posix_time/posix_time_duration.hpp"
#include "boost/date_time/date_generators.hpp"
#include "boost/date_time/filetime_functions.hpp"
#include <boost/date_time/gregorian/gregorian_types.hpp>
#include <boost/thread/detail/thread_heap_alloc.hpp>
#include <boost/utility.hpp>
#include <boost/assert.hpp>
#include <boost/ref.hpp>
#include <boost/bind.hpp>
#include <stdlib.h>
#include <memory>
#include <boost/type_traits/remove_reference.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/thread/exceptions.hpp>
#include <boost/thread/tss.hpp>
#include <boost/thread/thread_time.hpp>
#include <boost/thread/detail/move.hpp>
#include <boost/thread/shared_mutex.hpp>
#include "geometry_msgs/Twist.h"
#include "tf/transform_datatypes.h"
#include <stdio.h>
#include <std_msgs/Float64.h>
#include <tf/transform_broadcaster.h>
#include <iostream>
#include <fstream>

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
void	ImuCallback (const sensor_msgs::Imu::ConstPtr &msg)
	ImuCallback Function to add covariance to IMU data.
int	main (int argc, char **argv)
void	OdometryCallback (const nav_msgs::Odometry::ConstPtr &msg)
Variables
ros::Publisher	imu_pub
sensor_msgs::Imu	inercial_
ros::Publisher	odom_pub
nav_msgs::Odometry	odometry_
tf::TransformBroadcaster *	p_odom_broadcaster
ros::Time	t_i
ros::Time	t_i_1