point_one::fusion_engine::messages::ros::IMUMessage Struct Reference

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

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

Inheritance diagram for point_one::fusion_engine::messages::ros::IMUMessage:

Public Attributes
double	acceleration_covariance [9] = {-1}
	Vehicle x/y/z acceleration covariance matrix. More...
double	acceleration_mps2 [3] = {NAN, NAN, NAN}
	Vehicle x/y/z linear acceleration (in meters/second^2), resolved in the body frame. More...
double	angular_velocity_covariance [9] = {-1}
	Vehicle rate of rotation covariance matrix. More...
double	angular_velocity_rps [3] = {NAN, NAN, NAN}
	Vehicle x/y/z rate of rotation (in radians/second), resolved in the body frame. More...
double	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). More...
double	orientation_covariance [9] = {-1}
	Orientation covariance matrix. More...
Timestamp	p1_time
	The time of the message, in P1 time (beginning at power-on). More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::ROS_IMU
static constexpr uint8_t	MESSAGE_VERSION = 0

Detailed Description

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

If any of the data elements are not available (e.g., IMU doesn't produce an orientation estimate), they will be set to 0 and their associated covariance matrices will be set to -1.

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

Note

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 262 of file ros.h.

Member Data Documentation

acceleration_covariance

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

Vehicle x/y/z acceleration covariance matrix.

Set to -1 if not available.

Definition at line 300 of file ros.h.

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 295 of file ros.h.

angular_velocity_covariance

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

Vehicle rate of rotation covariance matrix.

Set to -1 if not available.

Definition at line 289 of file ros.h.

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 284 of file ros.h.

MESSAGE_TYPE

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

staticconstexpr

Definition at line 263 of file ros.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 264 of file ros.h.

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 273 of file ros.h.

orientation_covariance

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

Orientation covariance matrix.

Set to -1 if not available.

Definition at line 278 of file ros.h.

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 267 of file ros.h.

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

• src/point_one/fusion_engine/messages/ros.h