/home/laradmin/lar/sensors/imu/imu_network/src/complementary_filter.cpp File Reference

Complementary filter - Roll & Pitch calculation. More...

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <string>
#include <iostream>
#include <math.h>
#include <cmath>
#include <vector>
#include <boost/format.hpp>
#include <imu_network/sensors_network.h>
#include <imu_network/filtered_imu_network.h>
#include <imu_network/filtered_imu.h>

Include dependency graph for complementary_filter.cpp:

Go to the source code of this file.

Defines
#define	GYRO_CONVERT   M_PI/180*0.069565
#define	MAX_MEAN_IT   25
Functions
void	chatterCallback (const imu_network::sensors_network::ConstPtr &msg)
int	main (int argc, char **argv)
Variables
float	accel_alpha = 0.7
vector< float >	accel_ang_x
vector< float >	accel_ang_y
float	alpha = 0.3
vector< float >	angle [3]
vector< float >	angle_last_it [3]
ros::Publisher	chatter_pub
imu_network::filtered_imu_network	complementary_filter_network
int	first_run = 0
vector< float >	gyro_angle [3]
vector< float >	gyro_last_it [3]
vector< float >	gyro_mean_vect [MAX_MEAN_IT][3]
vector< float >	gyro_real_mean [3]
int	mean_it = 0
ros::NodeHandle *	n
float	period = 1/7.35
int	sensors_number

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Detailed Description

Complementary filter - Roll & Pitch calculation.

Author:

Telmo Rafeiro n.º 45349 (rafeiro@ua.pt)

Definition in file complementary_filter.cpp.

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Define Documentation

#define GYRO_CONVERT   M_PI/180*0.069565

Definition at line 51 of file complementary_filter.cpp.

#define MAX_MEAN_IT   25

Definition at line 49 of file complementary_filter.cpp.

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Function Documentation

void chatterCallback

(

const imu_network::sensors_network::ConstPtr &

msg

)

Definition at line 81 of file complementary_filter.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 228 of file complementary_filter.cpp.

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Variable Documentation

float accel_alpha = 0.7

Definition at line 75 of file complementary_filter.cpp.

vector<float> accel_ang_x

Definition at line 63 of file complementary_filter.cpp.

vector<float> accel_ang_y

Definition at line 64 of file complementary_filter.cpp.

float alpha = 0.3

Definition at line 74 of file complementary_filter.cpp.

vector<float> angle[3]

Definition at line 66 of file complementary_filter.cpp.

vector<float> angle_last_it[3]

Definition at line 67 of file complementary_filter.cpp.

ros::Publisher chatter_pub

Definition at line 57 of file complementary_filter.cpp.

imu_network::filtered_imu_network complementary_filter_network

Definition at line 79 of file complementary_filter.cpp.

int first_run = 0

Definition at line 60 of file complementary_filter.cpp.

vector<float> gyro_angle[3]

Definition at line 62 of file complementary_filter.cpp.

vector<float> gyro_last_it[3]

Definition at line 71 of file complementary_filter.cpp.

vector<float> gyro_mean_vect[MAX_MEAN_IT][3]

Definition at line 69 of file complementary_filter.cpp.

vector<float> gyro_real_mean[3]

Definition at line 70 of file complementary_filter.cpp.

int mean_it = 0

Definition at line 77 of file complementary_filter.cpp.

ros::NodeHandle* n

Definition at line 56 of file complementary_filter.cpp.

float period = 1/7.35

Definition at line 73 of file complementary_filter.cpp.

int sensors_number

Definition at line 59 of file complementary_filter.cpp.