| 300 | } |
| 301 | |
| 302 | void NetworkControl::imu_callback(const sensor_msgs::Imu &imu) |
| 303 | { |
| 304 | Eigen::Vector3d acc(imu.linear_acceleration.x, |
| 305 | imu.linear_acceleration.y, |
| 306 | imu.linear_acceleration.z); |
| 307 | if (is_simulation_) |
| 308 | { |
| 309 | cur_acc_ = acc; |
| 310 | } |
| 311 | else |
| 312 | { |
| 313 | Eigen::Vector3d acc_world = cur_att_ * acc; |
| 314 | acc_world(2) -= 9.8; |
| 315 | cur_acc_ = acc_world; |
| 316 | } |
| 317 | |
| 318 | // so3_controller_.setAcc(acc_world); |
| 319 | } |
| 320 | |
| 321 | void NetworkControl::timerCallback(const ros::TimerEvent &) |
| 322 | { |
nothing calls this directly
no outgoing calls
no test coverage detected