telekyb_state::ComplementaryStateEstimator Class Reference

#include <ComplementaryStateEstimator.hpp>

Inheritance diagram for telekyb_state::ComplementaryStateEstimator:

List of all members.

Public Member Functions
	ComplementaryStateEstimator ()
virtual void	destroy ()
virtual std::string	getName () const
virtual void	initialize ()
void	inputCallback (const tk_draft_msgs::TKSmallImuConstPtr &msg)
void	measureCallback (const geometry_msgs::TransformStampedConstPtr &msg)
virtual void	willBecomeActive ()
virtual void	willBecomeInActive ()
Protected Member Functions
void	initializationDone ()
void	initVelocityFilters ()
void	prediction (State &state, double Tpred)
void	publishState ()
void	spin ()
Protected Attributes
Eigen::Vector3d	angVelFiltered
ros::Publisher	biasPub
boost::mutex	imuMutex
ros::Subscriber	imuSub
State	internalState
bool	isInitialized
ros::NodeHandle	nodeHandle
IIRFilter *	omegaFilter [3]
ComplementaryStateEstimatorOptions	options
telekyb::Timer	pubTimer
bool	receivedFirstInput
bool	receivedFirstMeasure
telekyb::Timer	rtTimer
bool	spinning
DynamicSystem	system
boost::thread	thread
boost::mutex	threadMutex
boost::mutex	viconMutex
ros::Publisher	viconRepublisher
ros::Subscriber	viconSub

---

Detailed Description

Definition at line 62 of file ComplementaryStateEstimator.hpp.

---

Constructor & Destructor Documentation

telekyb_state::ComplementaryStateEstimator::ComplementaryStateEstimator

(

)

Definition at line 68 of file ComplementaryStateEstimator.cpp.

---

Member Function Documentation

void telekyb_state::ComplementaryStateEstimator::destroy

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 305 of file ComplementaryStateEstimator.cpp.

std::string telekyb_state::ComplementaryStateEstimator::getName

(

)

const [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 315 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::initializationDone

(

)

[protected]

Definition at line 86 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::initialize

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 75 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::initVelocityFilters

(

)

[protected]

Definition at line 54 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::inputCallback

(

const tk_draft_msgs::TKSmallImuConstPtr &

msg

)

Definition at line 151 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::measureCallback

(

const geometry_msgs::TransformStampedConstPtr &

msg

)

Definition at line 207 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::prediction	(	State &	state,
		double	Tpred
	)		[protected]

Definition at line 125 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::publishState

(

)

[protected]

Definition at line 257 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::spin

(

)

[protected]

Definition at line 98 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::willBecomeActive

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 284 of file ComplementaryStateEstimator.cpp.

void telekyb_state::ComplementaryStateEstimator::willBecomeInActive

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 298 of file ComplementaryStateEstimator.cpp.

---

Member Data Documentation

Eigen::Vector3d telekyb_state::ComplementaryStateEstimator::angVelFiltered [protected]

Definition at line 79 of file ComplementaryStateEstimator.hpp.

ros::Publisher telekyb_state::ComplementaryStateEstimator::biasPub [protected]

Definition at line 86 of file ComplementaryStateEstimator.hpp.

boost::mutex telekyb_state::ComplementaryStateEstimator::imuMutex [protected]

Definition at line 96 of file ComplementaryStateEstimator.hpp.

ros::Subscriber telekyb_state::ComplementaryStateEstimator::imuSub [protected]

Definition at line 84 of file ComplementaryStateEstimator.hpp.

State telekyb_state::ComplementaryStateEstimator::internalState [protected]

Definition at line 105 of file ComplementaryStateEstimator.hpp.

bool telekyb_state::ComplementaryStateEstimator::isInitialized [protected]

Definition at line 91 of file ComplementaryStateEstimator.hpp.

ros::NodeHandle telekyb_state::ComplementaryStateEstimator::nodeHandle [protected]

Definition at line 82 of file ComplementaryStateEstimator.hpp.

IIRFilter* telekyb_state::ComplementaryStateEstimator::omegaFilter[3] [protected]

Definition at line 77 of file ComplementaryStateEstimator.hpp.

ComplementaryStateEstimatorOptions telekyb_state::ComplementaryStateEstimator::options [protected]

Definition at line 103 of file ComplementaryStateEstimator.hpp.

telekyb::Timer telekyb_state::ComplementaryStateEstimator::pubTimer [protected]

Definition at line 99 of file ComplementaryStateEstimator.hpp.

bool telekyb_state::ComplementaryStateEstimator::receivedFirstInput [protected]

Definition at line 91 of file ComplementaryStateEstimator.hpp.

bool telekyb_state::ComplementaryStateEstimator::receivedFirstMeasure [protected]

Definition at line 91 of file ComplementaryStateEstimator.hpp.

telekyb::Timer telekyb_state::ComplementaryStateEstimator::rtTimer [protected]

Definition at line 98 of file ComplementaryStateEstimator.hpp.

bool telekyb_state::ComplementaryStateEstimator::spinning [protected]

Definition at line 90 of file ComplementaryStateEstimator.hpp.

DynamicSystem telekyb_state::ComplementaryStateEstimator::system [protected]

Definition at line 107 of file ComplementaryStateEstimator.hpp.

boost::thread telekyb_state::ComplementaryStateEstimator::thread [protected]

Definition at line 93 of file ComplementaryStateEstimator.hpp.

boost::mutex telekyb_state::ComplementaryStateEstimator::threadMutex [protected]

Definition at line 94 of file ComplementaryStateEstimator.hpp.

boost::mutex telekyb_state::ComplementaryStateEstimator::viconMutex [protected]

Definition at line 97 of file ComplementaryStateEstimator.hpp.

ros::Publisher telekyb_state::ComplementaryStateEstimator::viconRepublisher [protected]

Definition at line 87 of file ComplementaryStateEstimator.hpp.

ros::Subscriber telekyb_state::ComplementaryStateEstimator::viconSub [protected]

Definition at line 83 of file ComplementaryStateEstimator.hpp.

---

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

• ComplementaryStateEstimator.hpp
• ComplementaryStateEstimator.cpp