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IMUMessage Struct

ROS Imu message (MessageType::ROS_IMU, version 1.0). More...

Declaration​

struct point_one::fusion_engine::messages::ros::IMUMessage { ... }

Included Headers​

#include <point_one/fusion_engine/messages/ros.h>

Base struct​

structMessagePayload

The base class for all message payloads. More...

Public Member Attributes Index​

doubleacceleration_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Vehicle x/y/z acceleration covariance matrix. More...

doubleacceleration_mps2[3] = {NAN, NAN, NAN}

Vehicle x/y/z linear acceleration (in meters/second^2), resolved in the body frame. More...

doubleangular_velocity_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Vehicle rate of rotation covariance matrix. More...

doubleangular_velocity_rps[3] = {NAN, NAN, NAN}

Vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame. More...

doubleorientation[4] = {NAN, NAN, NAN, NAN}

The platform body orientation with respect to the local ENU frame, represented as a quaternion with the scalar component last (x, y, z, w). More...

doubleorientation_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Orientation covariance matrix. More...

Timestampp1_time

The time of the message, in P1 time (beginning at power-on). More...

Public Static Attributes Index​

static constexpr MessageTypeMESSAGE_TYPE = MessageType::ROS_IMU
static constexpr uint8_tMESSAGE_VERSION = 0

Description​

ROS Imu message (MessageType::ROS_IMU, version 1.0).

Per the ROS IMU message specification:

  • If the a value is known but its covariance is not, its covariance matrix will be set to 0.0
  • If a value is not known or not available, its covariance matrix will be set to -1.0
    • The value itself will be set to NAN, as this is not specified in the ROS message definition

Note that the ROS IMU message does not use NAN in the covariance matrix to represent either data or covariance not known.

See http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html.

info

The data contained in this message has been corrected for accelerometer and gyro biases and scale factors, and has been rotated into the vehicle body frame from the original IMU orientation using the FusionEngine sensor calibration data.

Definition at line 269 of file ros.h.

Public Member Attributes​

acceleration_covariance​

double point_one::fusion_engine::messages::ros::IMUMessage::acceleration_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Vehicle x/y/z acceleration covariance matrix.

Set to -1 if not available.

Definition at line 307 of file ros.h.

307 double acceleration_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1};

acceleration_mps2​

double point_one::fusion_engine::messages::ros::IMUMessage::acceleration_mps2[3] = {NAN, NAN, NAN}

Vehicle x/y/z linear acceleration (in meters/second^2), resolved in the body frame.

Definition at line 302 of file ros.h.

302 double acceleration_mps2[3] = {NAN, NAN, NAN};

angular_velocity_covariance​

double point_one::fusion_engine::messages::ros::IMUMessage::angular_velocity_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Vehicle rate of rotation covariance matrix.

Set to -1 if not available.

Definition at line 296 of file ros.h.

296 double angular_velocity_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1};

angular_velocity_rps​

double point_one::fusion_engine::messages::ros::IMUMessage::angular_velocity_rps[3] = {NAN, NAN, NAN}

Vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame.

Definition at line 291 of file ros.h.

291 double angular_velocity_rps[3] = {NAN, NAN, NAN};

orientation​

double point_one::fusion_engine::messages::ros::IMUMessage::orientation[4] = {NAN, NAN, NAN, NAN}

The platform body orientation with respect to the local ENU frame, represented as a quaternion with the scalar component last (x, y, z, w).

Definition at line 280 of file ros.h.

280 double orientation[4] = {NAN, NAN, NAN, NAN};

orientation_covariance​

double point_one::fusion_engine::messages::ros::IMUMessage::orientation_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1}

Orientation covariance matrix.

Set to -1 if not available.

Definition at line 285 of file ros.h.

285 double orientation_covariance[9] = {-1, -1, -1, -1, -1, -1, -1, -1, -1};

p1_time​

Timestamp point_one::fusion_engine::messages::ros::IMUMessage::p1_time

The time of the message, in P1 time (beginning at power-on).

Definition at line 274 of file ros.h.

274 Timestamp p1_time;

Public Static Attributes​

MESSAGE_TYPE​

constexpr MessageType point_one::fusion_engine::messages::ros::IMUMessage::MESSAGE_TYPE = MessageType::ROS_IMU
 constexpr static

Definition at line 270 of file ros.h.

270 static constexpr MessageType MESSAGE_TYPE = MessageType::ROS_IMU;

MESSAGE_VERSION​

constexpr uint8_t point_one::fusion_engine::messages::ros::IMUMessage::MESSAGE_VERSION = 0
 constexpr static

Definition at line 271 of file ros.h.

271 static constexpr uint8_t MESSAGE_VERSION = 0;

The documentation for this struct was generated from the following file:

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