IRI ROS Specific Driver Class. More...

#include <pose2d_odom_alg.h>

Public Types
typedef iri_msg_to_odom::MessageToOdomConfig	Config
	define config type
Public Member Functions
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
void	getOdometry (nav_msgs::Odometry &o, geometry_msgs::TransformStamped &t)
void	lock (void)
	Lock Algorithm.
	Pose2dOdomAlgorithm ()
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~Pose2dOdomAlgorithm ()
	Destructor.
Public Attributes
Config	config_
	config variable
std::string	frame_id_
geometry_msgs::Pose2D	new_pose2D_
ros::Time	new_time_
geometry_msgs::Pose2D	old_pose2D_
ros::Time	old_time_
std::string	parent_id_
Protected Attributes
CMutex	alg_mutex_
	define config type

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 42 of file pose2d_odom_alg.h.

Member Typedef Documentation

typedef iri_msg_to_odom::MessageToOdomConfig Pose2dOdomAlgorithm::Config

define config type

Define a Config type with the Pose2dOdomConfig. All driver implementations will then use the same variable type Config.

Definition at line 62 of file pose2d_odom_alg.h.

Constructor & Destructor Documentation

Pose2dOdomAlgorithm::Pose2dOdomAlgorithm ( )

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 pose2d_odom_alg.cpp.

Pose2dOdomAlgorithm::~Pose2dOdomAlgorithm ( )

Destructor.

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

Definition at line 7 of file pose2d_odom_alg.cpp.

Member Function Documentation

void Pose2dOdomAlgorithm::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: