chrono::ros::ChROSAccelerometerHandler Class Reference

Description

This handler is responsible for interfacing a ChAccelerometerSensor to ROS. Will publish sensor_msgs::msg::Imu.

#include <ChROSAccelerometerHandler.h>

Inheritance diagram for chrono::ros::ChROSAccelerometerHandler:

Collaboration diagram for chrono::ros::ChROSAccelerometerHandler:

Public Member Functions
	ChROSAccelerometerHandler (std::shared_ptr< chrono::sensor::ChAccelerometerSensor > imu, const std::string &topic_name)
	Constructor. More...
	ChROSAccelerometerHandler (double update_rate, std::shared_ptr< chrono::sensor::ChAccelerometerSensor > imu, const std::string &topic_name)
	Full constructor. Takes a ChAccelerometerSensor, update rate, and topic name.
virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initializes the handler.
Public Member Functions inherited from chrono::ros::ChROSHandler
virtual	~ChROSHandler ()=default
	Destructor for the ChROSHandler.
virtual void	Update (double time, double step) final
	Updates the internal clock and checks if a tick should occur. More...
const double	GetUpdateRate () const
	Get the period which this handler operates at.
const uint64_t	GetTickCount () const
	Get the number of times Tick() has been called.

Protected Member Functions
virtual void	Tick (double time) override
	Derived class must implement this function. More...
Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler. More...

Friends
class	ChROSIMUHandler

Constructor & Destructor Documentation

ChROSAccelerometerHandler()

chrono::ros::ChROSAccelerometerHandler::ChROSAccelerometerHandler	(	std::shared_ptr< chrono::sensor::ChAccelerometerSensor >	imu,
		const std::string &	topic_name
	)

Constructor.

The update rate is set to imu->GetUpdateRate(). The update rate corresponds to the sensor's update rate.

Member Function Documentation

Tick()

void chrono::ros::ChROSAccelerometerHandler::Tick ( double  time )

overrideprotectedvirtual

Derived class must implement this function.

Parameters

time	the current simulation time

Implements chrono::ros::ChROSHandler.

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

• /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSAccelerometerHandler.h
• /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSAccelerometerHandler.cpp