imu_filter_base.h

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//
// Created by yezi on 2022/3/26.
//
 
#pragma once
 
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/Temperature.h>
#include <sensor_msgs/TimeReference.h>
#include <realtime_tools/realtime_publisher.h>
 
namespace rm_common
{
class ImuFilterBase
{
public:
  bool init(XmlRpc::XmlRpcValue& imu_data, const std::string& name);
  void update(ros::Time time, double* accel, double* omega, double* ori, double* accel_cov, double* omega_cov,
              double* ori_cov, double temp, bool camera_trigger);
  virtual void getOrientation(double& q0, double& q1, double& q2, double& q3) = 0;
 
protected:
  virtual bool initFilter(XmlRpc::XmlRpcValue& imu_data) = 0;
  virtual void resetFilter() = 0;
  virtual void filterUpdate(double ax, double ay, double az, double wx, double wy, double wz, double dt) = 0;
  ros::Time last_update_;
  bool initialized_filter_{ false };
  std::string frame_id_;
  ros::Publisher imu_data_pub_;
  ros::Publisher imu_temp_pub_;
  ros::Publisher trigger_time_pub_;
  sensor_msgs::Imu imu_pub_data_;
  sensor_msgs::Temperature temp_pub_data_;
  sensor_msgs::TimeReference trigger_time_pub_data_;
};
class ImuFilterBase {…};
}  // namespace rm_common