autoware::drivers::xsens_driver::XsensImuTranslator Class Reference

#include <xsens_imu_translator.hpp>

Inheritance diagram for autoware::drivers::xsens_driver::XsensImuTranslator:

Collaboration diagram for autoware::drivers::xsens_driver::XsensImuTranslator:

Classes
class	Config

Public Member Functions
	XsensImuTranslator (const Config &config)
void	parse_timestamp (sensor_msgs::msg::Imu &message, int32_t data_id, const std::vector< uint8_t > &content)
void	parse_acceleration (sensor_msgs::msg::Imu &message, int32_t data_id, const std::vector< uint8_t > &content)
template<typename MessageT >
void	parse_acceleration_internal (sensor_msgs::msg::Imu &message, const std::vector< uint8_t > &content)
void	parse_orientation_data (sensor_msgs::msg::Imu &message, int32_t data_id, const std::vector< uint8_t > &content)
void	parse_angular_velocity (sensor_msgs::msg::Imu &message, int32_t data_id, const std::vector< uint8_t > &content)
template<typename MessageT >
void	parse_orientation_quaternion (sensor_msgs::msg::Imu &message, const std::vector< uint8_t > &content)
template<typename MessageT >
void	parse_angular_velocity_rate_of_turn (sensor_msgs::msg::Imu &message, const std::vector< uint8_t > &content)
void	parse_xdigroup_mtdata2 (XDIGroup xdigroup, sensor_msgs::msg::Imu &message, int32_t data_id, const std::vector< uint8_t > &content)
void	parse_xdi_coordinates (int32_t data_id, sensor_msgs::msg::Imu &message)
template<typename T , std::size_t kNumber_of_values>
std::array< T, kNumber_of_values >	read_values (const std::vector< uint8_t > &content)
Public Member Functions inherited from autoware::drivers::xsens_driver::XsensBaseTranslator< XsensImuTranslator, sensor_msgs::msg::Imu >
	XsensBaseTranslator ()
bool8_t	use_double_precision (int32_t data_id)
bool8_t	convert (const Packet &pkt, sensor_msgs::msg::Imu &output)
	Convert Xsens frames into ROS messages. An Xsens frame is composed of the following bytes: More...
void	parse_mtdata2 (sensor_msgs::msg::Imu &output)

Additional Inherited Members
Protected Types inherited from autoware::drivers::xsens_driver::XsensBaseTranslator< XsensImuTranslator, sensor_msgs::msg::Imu >
enum	State
Protected Member Functions inherited from autoware::common::helper_functions::crtp< XsensImuTranslator >
const XsensImuTranslator &	impl () const
XsensImuTranslator &	impl ()
Protected Attributes inherited from autoware::drivers::xsens_driver::XsensBaseTranslator< XsensImuTranslator, sensor_msgs::msg::Imu >
std::vector< uint8_t >	raw_message_
State	current_state_
MID	current_mid_
std::size_t	current_length_

Constructor & Destructor Documentation

XsensImuTranslator()

autoware::drivers::xsens_driver::XsensImuTranslator::XsensImuTranslator ( const Config &  config )

explicit

Member Function Documentation

parse_acceleration()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_acceleration	(	sensor_msgs::msg::Imu &	message,
		int32_t	data_id,
		const std::vector< uint8_t > &	content
	)

parse_acceleration_internal()

template<typename MessageT >

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_acceleration_internal	(	sensor_msgs::msg::Imu &	message,
		const std::vector< uint8_t > &	content
	)

parse_angular_velocity()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_angular_velocity	(	sensor_msgs::msg::Imu &	message,
		int32_t	data_id,
		const std::vector< uint8_t > &	content
	)

parse_angular_velocity_rate_of_turn()

template<typename MessageT >

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_angular_velocity_rate_of_turn	(	sensor_msgs::msg::Imu &	message,
		const std::vector< uint8_t > &	content
	)

parse_orientation_data()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_orientation_data	(	sensor_msgs::msg::Imu &	message,
		int32_t	data_id,
		const std::vector< uint8_t > &	content
	)

parse_orientation_quaternion()

template<typename MessageT >

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_orientation_quaternion	(	sensor_msgs::msg::Imu &	message,
		const std::vector< uint8_t > &	content
	)

parse_timestamp()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_timestamp	(	sensor_msgs::msg::Imu &	message,
		int32_t	data_id,
		const std::vector< uint8_t > &	content
	)

parse_xdi_coordinates()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_xdi_coordinates	(	int32_t	data_id,
		sensor_msgs::msg::Imu &	message
	)

parse_xdigroup_mtdata2()

void autoware::drivers::xsens_driver::XsensImuTranslator::parse_xdigroup_mtdata2	(	XDIGroup	xdigroup,
		sensor_msgs::msg::Imu &	message,
		int32_t	data_id,
		const std::vector< uint8_t > &	content
	)

read_values()

template<typename T , std::size_t kNumber_of_values>

std::array<T, kNumber_of_values> autoware::drivers::xsens_driver::XsensImuTranslator::read_values ( const std::vector< uint8_t > &  content )

inline

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

• xsens_imu_translator.hpp
• xsens_imu_translator.cpp