Class AdiImuRos2

• Defined in File adi_imu_ros2.hpp

Class Documentation

class AdiImuRos2

Class for ADI IMU.

Public Functions

AdiImuRos2(const rclcpp::Node::SharedPtr &node, adi_imu_Device_t *p_device)

Constructor for AdiImuRos2.

Parameters:

• node – [in] Pointer to ROS2 node(adrd2121_imu_node)

• p_device – [in] Pointer to adi_imu_device_t

~AdiImuRos2()

Destructor for AdiImuRos2.

void loadParams(void)

Loads Parameters for ADI IMU.

bool init(void)

Initializes the ADI IMU.

Returns:

Boolean if successful (true) or not (false)

bool config(void)

Configures the ADI IMU based on parameters.

Returns:

Boolean if successful (true) or not (false)

double getImuDataRateHz(void)

Return IMU Data Rate.

Returns:

IMU Data rate in Hz

bool triggerBiasCorrectionUpdate(void)

Trigger IMU Bias Correction.

Returns:

Boolean if successful (true) or not (false)