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

Toll for IMU's data visualization - only 8 IMU. More...

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <string>
#include <iostream>
#include <math.h>
#include <cmath>
#include <vector>
#include <visualization_msgs/Marker.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <boost/format.hpp>
#include <imu_network/filtered_imu.h>
#include <imu_network/filtered_imu_network.h>
#include <kfilter/ekfilter.hpp>
#include <kfilter/kvector.hpp>
#include <stdlib.h>
#include <cstdlib>
#include <cfloat>
#include <float.h>
#include <assert.h>

Include dependency graph for imu_rviz.cpp:

Go to the source code of this file.

Defines
#define	DEGtoRAD   M_PI/180
#define	GYRO_CONVERT   M_PI/180*0.069565
#define	MAX_MEAN_IT   64
Functions
void	chatterCallback (const imu_network::filtered_imu_network::ConstPtr &msg)
float	get_angle (float num, float denom)
float	get_magnitude (float x, float y, float z)
float	get_theta (float iteration1, float iteration2, float time_interval)
int	main (int argc, char **argv)
void	publish_accel (int n, float ax, float ay, float az)
void	publish_gyro (int n, float gx, float gy, float gz)
void	publish_magn (int n, float mx, float my, float mz)
void	publish_sensor_number (int n)
void	publish_sensor_type (void)
Variables
tf::TransformBroadcaster *	br
ros::Publisher	chatter_pub
int	first_run = 0
vector< float >	gyro_mean_vect [MAX_MEAN_IT][3]
vector< float >	gyro_real_mean [3]
vector< float >	gyro_valx
vector< float >	gyro_valy
vector< float >	gyro_valz
tf::Matrix3x3	imu_transform [9]
tf::Matrix3x3	imu_transform_result
tf::TransformListener *	listener
int	marker_id
int	mean_it = 0
ros::NodeHandle *	n
int	sensors_number
int	sensors_pos_y [9] = {0 , 5 , 30 , 35 , 8.75 , 8.75 , 26.25 , 26.25 , 17.5}
int	sensors_pos_z [9] = {0 , 5 , 5 , 0 , -20 , -35 , -20 , -35 , 15 }
vector< ros::Time >	time_stamp
tf::Transform	transform1
tf::Transform	transform_tmp
ros::Publisher	vis_pub

---

Detailed Description

Toll for IMU's data visualization - only 8 IMU.

Author:

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

Definition in file imu_rviz.cpp.

---

Define Documentation

#define DEGtoRAD   M_PI/180

Definition at line 66 of file imu_rviz.cpp.

#define GYRO_CONVERT   M_PI/180*0.069565

Definition at line 65 of file imu_rviz.cpp.

#define MAX_MEAN_IT   64

Definition at line 63 of file imu_rviz.cpp.

---

Function Documentation

void chatterCallback

(

const imu_network::filtered_imu_network::ConstPtr &

msg

)

Definition at line 110 of file imu_rviz.cpp.

float get_angle	(	float	num,
		float	denom
	)

Definition at line 249 of file imu_rviz.cpp.

float get_magnitude	(	float	x,
		float	y,
		float	z
	)

Definition at line 257 of file imu_rviz.cpp.

float get_theta	(	float	iteration1,
		float	iteration2,
		float	time_interval
	)

Definition at line 261 of file imu_rviz.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 709 of file imu_rviz.cpp.

void publish_accel	(	int	n,
		float	ax,
		float	ay,
		float	az
	)

Definition at line 271 of file imu_rviz.cpp.

void publish_gyro	(	int	n,
		float	gx,
		float	gy,
		float	gz
	)

Definition at line 374 of file imu_rviz.cpp.

void publish_magn	(	int	n,
		float	mx,
		float	my,
		float	mz
	)

Definition at line 478 of file imu_rviz.cpp.

void publish_sensor_number

(

int

n

)

Definition at line 665 of file imu_rviz.cpp.

void publish_sensor_type

(

void

)

Definition at line 582 of file imu_rviz.cpp.

---

Variable Documentation

tf::TransformBroadcaster* br

Definition at line 72 of file imu_rviz.cpp.

ros::Publisher chatter_pub

Definition at line 75 of file imu_rviz.cpp.

int first_run = 0

Definition at line 91 of file imu_rviz.cpp.

vector<float> gyro_mean_vect[MAX_MEAN_IT][3]

Definition at line 102 of file imu_rviz.cpp.

vector<float> gyro_real_mean[3]

Definition at line 103 of file imu_rviz.cpp.

vector<float> gyro_valx

Definition at line 98 of file imu_rviz.cpp.

vector<float> gyro_valy

Definition at line 99 of file imu_rviz.cpp.

vector<float> gyro_valz

Definition at line 100 of file imu_rviz.cpp.

tf::Matrix3x3 imu_transform[9]

Definition at line 107 of file imu_rviz.cpp.

tf::Matrix3x3 imu_transform_result

Definition at line 108 of file imu_rviz.cpp.

tf::TransformListener* listener

Definition at line 73 of file imu_rviz.cpp.

int marker_id

Definition at line 92 of file imu_rviz.cpp.

int mean_it = 0

Definition at line 93 of file imu_rviz.cpp.

ros::NodeHandle* n

Definition at line 70 of file imu_rviz.cpp.

int sensors_number

Definition at line 90 of file imu_rviz.cpp.

int sensors_pos_y[9] = {0 , 5 , 30 , 35 , 8.75 , 8.75 , 26.25 , 26.25 , 17.5}

Definition at line 105 of file imu_rviz.cpp.

int sensors_pos_z[9] = {0 , 5 , 5 , 0 , -20 , -35 , -20 , -35 , 15 }

Definition at line 106 of file imu_rviz.cpp.

vector<ros::Time> time_stamp

Definition at line 97 of file imu_rviz.cpp.

tf::Transform transform1

Definition at line 94 of file imu_rviz.cpp.

tf::Transform transform_tmp

Definition at line 95 of file imu_rviz.cpp.

ros::Publisher vis_pub

Definition at line 76 of file imu_rviz.cpp.