CompassOdomAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <compass_odom_alg.h>

List of all members.

Public Types
typedef iri_msg_to_odom::MessageToOdomConfig	Config
	define config type
Public Member Functions
	CompassOdomAlgorithm ()
	constructor
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
void	getImuMessage (nav_msgs::Odometry &o, sensor_msgs::Imu &imu)
void	getOdometry (nav_msgs::Odometry &o, geometry_msgs::TransformStamped &t)
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~CompassOdomAlgorithm ()
	Destructor.
Public Attributes
Config	config_
	config variable
iri_common_drivers_msgs::compass3axis	new_compass_
iri_common_drivers_msgs::compass3axis	old_compass_
std::string	parent_id_
Protected Attributes
CMutex	alg_mutex_
	define config type

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 42 of file compass_odom_alg.h.

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Member Typedef Documentation

typedef iri_msg_to_odom::MessageToOdomConfig CompassOdomAlgorithm::Config

define config type

Define a Config type with the CompassOdomConfig. All driver implementations will then use the same variable type Config.

Definition at line 62 of file compass_odom_alg.h.

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Constructor & Destructor Documentation

CompassOdomAlgorithm::CompassOdomAlgorithm

(

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file compass_odom_alg.cpp.

CompassOdomAlgorithm::~CompassOdomAlgorithm

(

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 7 of file compass_odom_alg.cpp.

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Member Function Documentation

void CompassOdomAlgorithm::config_update	(	const Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 11 of file compass_odom_alg.cpp.

void CompassOdomAlgorithm::getImuMessage	(	nav_msgs::Odometry &	o,
		sensor_msgs::Imu &	imu
	)

Definition at line 99 of file compass_odom_alg.cpp.

void CompassOdomAlgorithm::getOdometry	(	nav_msgs::Odometry &	o,
		geometry_msgs::TransformStamped &	t
	)

Definition at line 26 of file compass_odom_alg.cpp.

void CompassOdomAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 87 of file compass_odom_alg.h.

bool CompassOdomAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 103 of file compass_odom_alg.h.

void CompassOdomAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 94 of file compass_odom_alg.h.

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Member Data Documentation

CMutex CompassOdomAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the CompassOdomConfig. All driver implementations will then use the same variable type Config.

Definition at line 51 of file compass_odom_alg.h.

Config CompassOdomAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 70 of file compass_odom_alg.h.

iri_common_drivers_msgs::compass3axis CompassOdomAlgorithm::new_compass_

Definition at line 122 of file compass_odom_alg.h.

iri_common_drivers_msgs::compass3axis CompassOdomAlgorithm::old_compass_

Definition at line 121 of file compass_odom_alg.h.

std::string CompassOdomAlgorithm::parent_id_

Definition at line 123 of file compass_odom_alg.h.

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

• compass_odom_alg.h
• compass_odom_alg.cpp