flyer_est::Estimator Class Reference

Inheritance diagram for flyer_est::Estimator:

List of all members.

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Estimator ()
void	getTransforms (const ros::TimerEvent &event)
void	onInit ()
Private Member Functions
void	calcAngularVelocity (const tf::Quaternion &cur_quat, const tf::Quaternion &prev_quat, const Eigen::Vector4d &prev_quat_deriv, const double dt, Eigen::Vector4d &new_quat_deriv, Eigen::Vector3d &new_ang_vel)
void	calcVelocity (const double &current_x, const double &current_y, const double &current_z, const double dt, double &new_vx, double &new_vy, double &new_vz)
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	mainCallback (const ros::TimerEvent &e)
void	transformCallback (const geometry_msgs::TransformStampedConstPtr &msg)
Private Attributes
double	ang_vel_filt_a
double	ang_vel_filt_b
diagnostic_updater::Updater	diag_updater
string	flyer_imu_tf_node
string	flyer_vicon_tf_node
double	freq
diagnostic_updater::FrequencyStatus	freq_status
ros::Timer	get_transforms_timer
bool	got_first_transform
bool	got_new_measurement
tf::StampedTransform	last_transform
double	last_transform_age
bool	main_cb_first_time
ros::Timer	main_timer
double	max_dt
double	max_freq
int	max_published_without_new_measurement
double	min_freq
ros::NodeHandle	nh
ros::NodeHandle	nh_priv
ros::Publisher	output_pub
tf::Quaternion	prev_quat
Eigen::Vector4d	prev_quat_deriv
int	published_without_new_measurement_count
nav_msgs::Odometry	state_msg
boost::mutex	state_mutex
tf::StampedTransform	T_enu__ned
tf::StampedTransform	T_flyer_vicon__flyer_imu
tf::TransformListener	tf_listener
ros::Subscriber	transform_sub
string	transform_topic
bool	use_udp_for_transform_subscriber
double	xy_vel_filt_a
double	xy_vel_filt_b
double	z_vel_filt_a
double	z_vel_filt_b

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Detailed Description

Definition at line 57 of file estimator.cpp.

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Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW flyer_est::Estimator::Estimator

(

)

[inline]

Definition at line 105 of file estimator.cpp.

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Member Function Documentation

void flyer_est::Estimator::calcAngularVelocity	(	const tf::Quaternion &	cur_quat,
		const tf::Quaternion &	prev_quat,
		const Eigen::Vector4d &	prev_quat_deriv,
		const double	dt,
		Eigen::Vector4d &	new_quat_deriv,
		Eigen::Vector3d &	new_ang_vel
	)		[inline, private]

Definition at line 277 of file estimator.cpp.

void flyer_est::Estimator::calcVelocity	(	const double &	current_x,
		const double &	current_y,
		const double &	current_z,
		const double	dt,
		double &	new_vx,
		double &	new_vy,
		double &	new_vz
	)		[inline, private]

Definition at line 308 of file estimator.cpp.

void flyer_est::Estimator::diagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[inline, private]

Definition at line 267 of file estimator.cpp.

void flyer_est::Estimator::getTransforms

(

const ros::TimerEvent &

event

)

[inline]

Definition at line 155 of file estimator.cpp.

void flyer_est::Estimator::mainCallback

(

const ros::TimerEvent &

e

)

[inline, private]

Definition at line 344 of file estimator.cpp.

void flyer_est::Estimator::onInit

(

)

[inline, virtual]

Implements nodelet::Nodelet.

Definition at line 118 of file estimator.cpp.

void flyer_est::Estimator::transformCallback

(

const geometry_msgs::TransformStampedConstPtr &

msg

)

[inline, private]

Definition at line 197 of file estimator.cpp.

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Member Data Documentation

double flyer_est::Estimator::ang_vel_filt_a [private]

Definition at line 74 of file estimator.cpp.

double flyer_est::Estimator::ang_vel_filt_b [private]

Definition at line 75 of file estimator.cpp.

diagnostic_updater::Updater flyer_est::Estimator::diag_updater [private]

Definition at line 63 of file estimator.cpp.

string flyer_est::Estimator::flyer_imu_tf_node [private]

Definition at line 87 of file estimator.cpp.

string flyer_est::Estimator::flyer_vicon_tf_node [private]

Definition at line 88 of file estimator.cpp.

double flyer_est::Estimator::freq [private]

Definition at line 69 of file estimator.cpp.

diagnostic_updater::FrequencyStatus flyer_est::Estimator::freq_status [private]

Definition at line 66 of file estimator.cpp.

ros::Timer flyer_est::Estimator::get_transforms_timer [private]

Definition at line 85 of file estimator.cpp.

bool flyer_est::Estimator::got_first_transform [private]

Definition at line 89 of file estimator.cpp.

bool flyer_est::Estimator::got_new_measurement [private]

Definition at line 100 of file estimator.cpp.

tf::StampedTransform flyer_est::Estimator::last_transform [private]

Definition at line 91 of file estimator.cpp.

double flyer_est::Estimator::last_transform_age [private]

Definition at line 90 of file estimator.cpp.

bool flyer_est::Estimator::main_cb_first_time [private]

Definition at line 98 of file estimator.cpp.

ros::Timer flyer_est::Estimator::main_timer [private]

Definition at line 84 of file estimator.cpp.

double flyer_est::Estimator::max_dt [private]

Definition at line 99 of file estimator.cpp.

double flyer_est::Estimator::max_freq [private]

Definition at line 65 of file estimator.cpp.

int flyer_est::Estimator::max_published_without_new_measurement [private]

Definition at line 102 of file estimator.cpp.

double flyer_est::Estimator::min_freq [private]

Definition at line 64 of file estimator.cpp.

ros::NodeHandle flyer_est::Estimator::nh [private]

Definition at line 60 of file estimator.cpp.

ros::NodeHandle flyer_est::Estimator::nh_priv [private]

Definition at line 61 of file estimator.cpp.

ros::Publisher flyer_est::Estimator::output_pub [private]

Definition at line 78 of file estimator.cpp.

tf::Quaternion flyer_est::Estimator::prev_quat [private]

Definition at line 95 of file estimator.cpp.

Eigen::Vector4d flyer_est::Estimator::prev_quat_deriv [private]

Definition at line 96 of file estimator.cpp.

int flyer_est::Estimator::published_without_new_measurement_count [private]

Definition at line 101 of file estimator.cpp.

nav_msgs::Odometry flyer_est::Estimator::state_msg [private]

Definition at line 94 of file estimator.cpp.

boost::mutex flyer_est::Estimator::state_mutex [private]

Definition at line 97 of file estimator.cpp.

tf::StampedTransform flyer_est::Estimator::T_enu__ned [private]

Definition at line 93 of file estimator.cpp.

tf::StampedTransform flyer_est::Estimator::T_flyer_vicon__flyer_imu [private]

Definition at line 92 of file estimator.cpp.

tf::TransformListener flyer_est::Estimator::tf_listener [private]

Definition at line 82 of file estimator.cpp.

ros::Subscriber flyer_est::Estimator::transform_sub [private]

Definition at line 80 of file estimator.cpp.

string flyer_est::Estimator::transform_topic [private]

Definition at line 68 of file estimator.cpp.

bool flyer_est::Estimator::use_udp_for_transform_subscriber [private]

Definition at line 76 of file estimator.cpp.

double flyer_est::Estimator::xy_vel_filt_a [private]

Definition at line 70 of file estimator.cpp.

double flyer_est::Estimator::xy_vel_filt_b [private]

Definition at line 71 of file estimator.cpp.

double flyer_est::Estimator::z_vel_filt_a [private]

Definition at line 72 of file estimator.cpp.

double flyer_est::Estimator::z_vel_filt_b [private]

Definition at line 73 of file estimator.cpp.

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

• estimator.cpp