Method imu_callback

uav_simulator/so3_control/src/so3_control_nodelet.cpp:139–143

}

void SO3ControlNodelet::imu_callback(const sensor_msgs::Imu& imu) {
  const Eigen::Vector3d acc(imu.linear_acceleration.x, imu.linear_acceleration.y,
                            imu.linear_acceleration.z);
  controller_.setAcc(acc);
}

void SO3ControlNodelet::onInit(void) {
  ros::NodeHandle n(getPrivateNodeHandle());