SSDKInterface Class Reference

This class provides access to the Simulink SDK on the AscTec Autopilot's HighLevel Processor (HLP) where the data fusion and position controller are implemented. More...

#include <ssdk_interface.h>

List of all members.

Public Member Functions
	SSDKInterface (ros::NodeHandle &nh, CommPtr &comm)
	~SSDKInterface ()
Private Member Functions
void	cbPose (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
	listens on pose updates via PoseWithCovarianceStamped messages.
void	cbSSDKConfig (asctec_hl_interface::SSDKConfig &config, uint32_t level)
void	cbState (const sensor_fusion_comm::ExtStatePtr &msg)
	this callback sends the full state (position, velocity) to the helicopter and bypasses the Luenberger Observer on the HLP
void	processDebugData (uint8_t *buf, uint32_t length)
void	processStatusData (uint8_t *buf, uint32_t length)
bool	sendParameters (const asctec_hl_interface::SSDKConfig &config)
	sends parameters to HLP
void	sendPoseToAP (const double &x, const double &y, const double &z, const double &yaw, const unsigned char &qual)
void	tfCallback ()
	listens for pose updates via tf
Private Attributes
CommPtr &	comm_
asctec_hl_interface::SSDKConfig	config_
SSDKConfigServer *	config_server_
ros::Publisher	debug_pub_
std::string	frame_id_
bool	have_config_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pose_pub_
ros::Subscriber	pose_sub_
ros::Subscriber	state_sub_
boost::signals::connection	tf_callback_
tf::TransformListener	tf_listener_

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Detailed Description

This class provides access to the Simulink SDK on the AscTec Autopilot's HighLevel Processor (HLP) where the data fusion and position controller are implemented.

Datafusion is implemented as a Luenberger observer. For position updates, it listens on either a tf transform or a PoseWithCovarinaceStamped message. Position control needs position, velocity as input, which usually comes from the Luenberger Observer. If datafusion is executed somewhere else than the HLP, position and velocity need to be sent (see SSDKInterface::cbState). For position controller and datafusion, parameters can be modified at runtime through dynamic reconfigure through parameter channels and can be monitored through debug channels. See the package documentation for channel assignments.

Definition at line 61 of file ssdk_interface.h.

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Constructor & Destructor Documentation

SSDKInterface::SSDKInterface	(	ros::NodeHandle &	nh,
		CommPtr &	comm
	)

Definition at line 36 of file ssdk_interface.cpp.

SSDKInterface::~SSDKInterface

(

)

Definition at line 60 of file ssdk_interface.cpp.

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Member Function Documentation

void SSDKInterface::cbPose

(

const geometry_msgs::PoseWithCovarianceStampedConstPtr &

msg

)

[private]

listens on pose updates via PoseWithCovarianceStamped messages.

Definition at line 86 of file ssdk_interface.cpp.

void SSDKInterface::cbSSDKConfig	(	asctec_hl_interface::SSDKConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 134 of file ssdk_interface.cpp.

void SSDKInterface::cbState

(

const sensor_fusion_comm::ExtStatePtr &

msg

)

[private]

this callback sends the full state (position, velocity) to the helicopter and bypasses the Luenberger Observer on the HLP

Definition at line 170 of file ssdk_interface.cpp.

void SSDKInterface::processDebugData	(	uint8_t *	buf,
		uint32_t	length
	)		[private]

Definition at line 212 of file ssdk_interface.cpp.

void SSDKInterface::processStatusData	(	uint8_t *	buf,
		uint32_t	length
	)		[private]

Definition at line 204 of file ssdk_interface.cpp.

bool SSDKInterface::sendParameters

(

const asctec_hl_interface::SSDKConfig &

config

)

[private]

sends parameters to HLP

Definition at line 293 of file ssdk_interface.cpp.

void SSDKInterface::sendPoseToAP	(	const double &	x,
		const double &	y,
		const double &	z,
		const double &	yaw,
		const unsigned char &	qual
	)		[private]

Definition at line 105 of file ssdk_interface.cpp.

void SSDKInterface::tfCallback

(

)

[private]

listens for pose updates via tf

Definition at line 66 of file ssdk_interface.cpp.

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Member Data Documentation

CommPtr& SSDKInterface::comm_ [private]

Definition at line 67 of file ssdk_interface.h.

asctec_hl_interface::SSDKConfig SSDKInterface::config_ [private]

Definition at line 77 of file ssdk_interface.h.

SSDKConfigServer* SSDKInterface::config_server_ [private]

Definition at line 76 of file ssdk_interface.h.

ros::Publisher SSDKInterface::debug_pub_ [private]

Definition at line 69 of file ssdk_interface.h.

std::string SSDKInterface::frame_id_ [private]

Definition at line 74 of file ssdk_interface.h.

bool SSDKInterface::have_config_ [private]

Definition at line 78 of file ssdk_interface.h.

ros::NodeHandle SSDKInterface::nh_ [private]

Definition at line 65 of file ssdk_interface.h.

ros::NodeHandle SSDKInterface::pnh_ [private]

Definition at line 66 of file ssdk_interface.h.

ros::Publisher SSDKInterface::pose_pub_ [private]

Definition at line 70 of file ssdk_interface.h.

ros::Subscriber SSDKInterface::pose_sub_ [private]

Definition at line 71 of file ssdk_interface.h.

ros::Subscriber SSDKInterface::state_sub_ [private]

Definition at line 72 of file ssdk_interface.h.

boost::signals::connection SSDKInterface::tf_callback_ [private]

Definition at line 81 of file ssdk_interface.h.

tf::TransformListener SSDKInterface::tf_listener_ [private]

Definition at line 80 of file ssdk_interface.h.

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

• ssdk_interface.h
• ssdk_interface.cpp