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carla
ros2
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CarlaIMUPublisher.h
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// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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// ָʾͷļֻһ
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#pragma once
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// GLIBCXX ʹ C++11 ABI ĺ
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#define _GLIBCXX_USE_CXX11_ABI 0
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// ڴ
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#include <memory>
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// CarlaPublisher Ķ
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#include "
CarlaPublisher.h
"
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namespace
carla
{
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namespace
ros2
{
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// ǰṹ CarlaIMUPublisherImpl
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struct
CarlaIMUPublisherImpl;
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// CarlaIMUPublisher ̳࣬ CarlaPublisher
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class
CarlaIMUPublisher
:
public
CarlaPublisher
{
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public
:
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// 캯 ROS ƺΪ
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CarlaIMUPublisher
(
const
char
* ros_name =
""
,
const
char
*
parent
=
""
);
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//
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~CarlaIMUPublisher
();
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// 캯
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CarlaIMUPublisher
(
const
CarlaIMUPublisher
&);
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// ֵ
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CarlaIMUPublisher
&
operator=
(
const
CarlaIMUPublisher
&);
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// ƶ캯
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CarlaIMUPublisher
(
CarlaIMUPublisher
&&);
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// ƶֵ
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CarlaIMUPublisher
&
operator=
(
CarlaIMUPublisher
&&);
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// ʼزֵָʾǷɹ
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bool
Init
();
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// ݵĺزֵָʾǷɹ
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bool
Publish
();
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// IMU ݵĺʱʹ
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void
SetData
(int32_t seconds, uint32_t nanoseconds,
float
* accelerometer,
float
* gyroscope,
float
compass);
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// ǻ type() ش
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const
char
*
type
()
const override
{
return
"inertial measurement unit"
; }
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private
:
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// ʹָ CarlaIMUPublisherImpl ʵ
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std::shared_ptr<CarlaIMUPublisherImpl>
_impl
;
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};
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}
// namespace ros2
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}
// namespace carla
CarlaPublisher.h
carla::ros2::CarlaIMUPublisher
Definition
CarlaIMUPublisher.h:23
carla::ros2::CarlaIMUPublisher::Publish
bool Publish()
Definition
CarlaIMUPublisher.cpp:108
carla::ros2::CarlaIMUPublisher::CarlaIMUPublisher
CarlaIMUPublisher(const char *ros_name="", const char *parent="")
Definition
CarlaIMUPublisher.cpp:228
carla::ros2::CarlaIMUPublisher::_impl
std::shared_ptr< CarlaIMUPublisherImpl > _impl
Definition
CarlaIMUPublisher.h:49
carla::ros2::CarlaIMUPublisher::~CarlaIMUPublisher
~CarlaIMUPublisher()
Definition
CarlaIMUPublisher.cpp:234
carla::ros2::CarlaIMUPublisher::SetData
void SetData(int32_t seconds, uint32_t nanoseconds, float *accelerometer, float *gyroscope, float compass)
Definition
CarlaIMUPublisher.cpp:176
carla::ros2::CarlaIMUPublisher::operator=
CarlaIMUPublisher & operator=(const CarlaIMUPublisher &)
Definition
CarlaIMUPublisher.cpp:258
carla::ros2::CarlaIMUPublisher::Init
bool Init()
Definition
CarlaIMUPublisher.cpp:52
carla::ros2::CarlaIMUPublisher::type
const char * type() const override
Definition
CarlaIMUPublisher.h:45
carla::ros2::CarlaPublisher
Definition
CarlaPublisher.h:13
carla::ros2::CarlaPublisher::parent
const std::string & parent() const
Definition
CarlaPublisher.h:17
carla
CARLA模拟器的主命名空间。
Definition
Carla.cpp:139
ros2
制作者
1.10.0