imu_data_map.SmartwatchData Class Reference

The Class SmartwatchData allows the subscription to the smartwatch's accelerometer data and publishing of the linear and angular velocities conveniently mapped. More...

Public Member Functions
def	__init__
	Constructor.
def	callback_smartwatch_data
	Callback function that when the data from the smartwatch are received maps them into linear and angular velocities. More...
def	main

Public Attributes
	last_acc
	Last acelleration data received from smartwatch.
	mode
	Control mode set from launch file.
	sub_smartwatch
	Subscriber to the topic /inertial a message of type Imu.
	pub_mapping
	Publisher on the topic /imu_mapping a message of type Twist.

Detailed Description

The Class SmartwatchData allows the subscription to the smartwatch's accelerometer data and publishing of the linear and angular velocities conveniently mapped.

Definition at line 35 of file imu_data_map.py.

Member Function Documentation

def imu_data_map.SmartwatchData.callback_smartwatch_data	(		self,
			imu_data
	)

Callback function that when the data from the smartwatch are received maps them into linear and angular velocities.

Based on the value of the attribute mode, two different modalities of control are available
mode: basic

It allows the user to exert three different types of control. They correspond to three gesture and therefore to specific ranges of linear acceleration values.
The control gesture are:

• Stay Still
• Turn Right/Left
• Go Forward/Backward

mode: advanced

It allows the user to exert the basic types of control but also combination of them.
All the linear acceleration values beetween the basic ranges are mapped as combination of linear and angular velocities.
e.g The control gesture combination could be Go Forward and Turn Right.

Definition at line 64 of file imu_data_map.py.

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The documentation for this class was generated from the following file:

• actions/scripts/imu_data_map.py