| 92 | } |
| 93 | |
| 94 | void resetParameters(){ |
| 95 | laserCloudIn->clear(); |
| 96 | |
| 97 | imuPointerCur = 0; |
| 98 | firstPointFlag = true; |
| 99 | odomDeskewFlag = false; |
| 100 | |
| 101 | for (int i = 0; i < queueLength; ++i) |
| 102 | { |
| 103 | imuTime[i] = 0; |
| 104 | imuRotX[i] = 0; |
| 105 | imuRotY[i] = 0; |
| 106 | imuRotZ[i] = 0; |
| 107 | } |
| 108 | } |
| 109 | |
| 110 | void imuHandler(const sensor_msgs::Imu::ConstPtr& imuMsg) |
| 111 | { |