Public Member Functions | Private Member Functions | Private Attributes
ARDroneDriver Class Reference

#include <ardrone_driver.h>

List of all members.

Public Member Functions

 ARDroneDriver ()
double getRosParam (char *param, double defaultVal)
bool imuReCalibCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
void publish_navdata (navdata_unpacked_t &navdata_raw, const ros::Time &navdata_receive_time)
void publish_video ()
void run ()
 ~ARDroneDriver ()

Private Member Functions

double calcAverage (std::vector< double > &vec)
void configureDrone ()
void publish_tf ()
bool readCovParams (std::string param_name, boost::array< double, 9 > &cov_array)
void resetCaliberation ()

Private Attributes

double acc_bias [3]
std::vector< std::vector
< double > > 		acc_samples
bool caliberated
camera_info_manager::CameraInfoManager * cinfo_hori_
camera_info_manager::CameraInfoManager * cinfo_vert_
ros::Subscriber cmd_vel_sub
long int copy_current_frame_id
long int copy_current_navdata_id
bool do_caliberation
int drone_root_frame
std::string droneFrameBase
std::string droneFrameBottomCam
std::string droneFrameFrontCam
std::string droneFrameId
std::string droneFrameIMU
ros::ServiceServer flatTrim_service
int flying_state
double gyro_bias [3]
std::vector< std::vector
< double > > 		gyro_samples
image_transport::CameraPublisher hori_pub
image_transport::CameraPublisher image_pub
image_transport::ImageTransport image_transport
sensor_msgs::Imu imu_msg
ros::Publisher imu_pub
ros::ServiceServer imuReCalib_service
bool inited
ros::Subscriber land_sub
long int last_frame_id
long int last_navdata_id
ardrone_autonomy::Navdata legacynavdata_msg
geometry_msgs::Vector3Stamped mag_msg
ros::Publisher mag_pub
int max_num_samples
ros::Publisher navdata_pub
ros::NodeHandle node_handle
ros::Subscriber reset_sub
ros::ServiceServer setCamChannel_service
ros::ServiceServer setFlightAnimation_service
ros::ServiceServer setLedAnimation_service
ros::ServiceServer setRecord_service
ros::Subscriber takeoff_sub
tf::StampedTransform tf_base_bottom
tf::StampedTransform tf_base_front
tf::TransformBroadcaster tf_broad
ros::ServiceServer toggleCam_service
double vel_bias [3]
std::vector< std::vector
< double > > 		vel_samples
image_transport::CameraPublisher vert_pub

Detailed Description

Definition at line 43 of file ardrone_driver.h.

Constructor & Destructor Documentation

ARDroneDriver::ARDroneDriver ( )

Definition at line 10 of file ardrone_driver.cpp.

ARDroneDriver::~ARDroneDriver ( )

Definition at line 113 of file ardrone_driver.cpp.

Member Function Documentation

double ARDroneDriver::calcAverage ( std::vector< double > &  vec) [private]

Definition at line 272 of file ardrone_driver.cpp.

void ARDroneDriver::configureDrone ( ) [private]

Definition at line 198 of file ardrone_driver.cpp.

double ARDroneDriver::getRosParam ( char *  param,
double  defaultVal 
)

Definition at line 319 of file ardrone_driver.cpp.

bool ARDroneDriver::imuReCalibCallback ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

Definition at line 778 of file ardrone_driver.cpp.

void ARDroneDriver::publish_navdata ( navdata_unpacked_t &  navdata_raw,
const ros::Time &  navdata_receive_time 
)

Definition at line 596 of file ardrone_driver.cpp.

void ARDroneDriver::publish_tf ( ) [private]

Definition at line 770 of file ardrone_driver.cpp.

void ARDroneDriver::publish_video ( )

For Drone 2 w/ SDK2. Both camera streams are 360p. No 720p support for now. SDK 2.0 Does not support PIP.

Definition at line 328 of file ardrone_driver.cpp.

bool ARDroneDriver::readCovParams ( std::string  param_name,
boost::array< double, 9 > &  cov_array 
) [private]

Definition at line 282 of file ardrone_driver.cpp.

void ARDroneDriver::resetCaliberation ( ) [private]

Definition at line 255 of file ardrone_driver.cpp.

void ARDroneDriver::run ( )

Definition at line 119 of file ardrone_driver.cpp.

Member Data Documentation

double ARDroneDriver::acc_bias[3] [private]

Definition at line 140 of file ardrone_driver.h.

std::vector< std::vector<double> > ARDroneDriver::acc_samples [private]

Definition at line 143 of file ardrone_driver.h.

bool ARDroneDriver::caliberated [private]

Definition at line 139 of file ardrone_driver.h.

camera_info_manager::CameraInfoManager* ARDroneDriver::cinfo_hori_ [private]

Definition at line 77 of file ardrone_driver.h.

camera_info_manager::CameraInfoManager* ARDroneDriver::cinfo_vert_ [private]

Definition at line 78 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::cmd_vel_sub [private]

Definition at line 68 of file ardrone_driver.h.

long int ARDroneDriver::copy_current_frame_id [private]

Definition at line 110 of file ardrone_driver.h.

long int ARDroneDriver::copy_current_navdata_id [private]

Definition at line 111 of file ardrone_driver.h.

bool ARDroneDriver::do_caliberation [private]

Definition at line 137 of file ardrone_driver.h.

int ARDroneDriver::drone_root_frame [private]

Definition at line 128 of file ardrone_driver.h.

std::string ARDroneDriver::droneFrameBase [private]

Definition at line 127 of file ardrone_driver.h.

std::string ARDroneDriver::droneFrameBottomCam [private]

Definition at line 127 of file ardrone_driver.h.

std::string ARDroneDriver::droneFrameFrontCam [private]

Definition at line 127 of file ardrone_driver.h.

std::string ARDroneDriver::droneFrameId [private]

Definition at line 116 of file ardrone_driver.h.

std::string ARDroneDriver::droneFrameIMU [private]

Definition at line 127 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::flatTrim_service [private]

Definition at line 91 of file ardrone_driver.h.

int ARDroneDriver::flying_state [private]

Definition at line 113 of file ardrone_driver.h.

double ARDroneDriver::gyro_bias[3] [private]

Definition at line 141 of file ardrone_driver.h.

std::vector< std::vector<double> > ARDroneDriver::gyro_samples [private]

Definition at line 144 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::hori_pub [private]

Definition at line 74 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::image_pub [private]

Definition at line 73 of file ardrone_driver.h.

image_transport::ImageTransport ARDroneDriver::image_transport [private]

Definition at line 72 of file ardrone_driver.h.

sensor_msgs::Imu ARDroneDriver::imu_msg [private]

Definition at line 132 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::imu_pub [private]

Definition at line 81 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::imuReCalib_service [private]

Definition at line 90 of file ardrone_driver.h.

bool ARDroneDriver::inited [private]

Definition at line 115 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::land_sub [private]

Definition at line 71 of file ardrone_driver.h.

long int ARDroneDriver::last_frame_id [private]

Definition at line 108 of file ardrone_driver.h.

long int ARDroneDriver::last_navdata_id [private]

Definition at line 109 of file ardrone_driver.h.

ardrone_autonomy::Navdata ARDroneDriver::legacynavdata_msg [private]

Definition at line 134 of file ardrone_driver.h.

geometry_msgs::Vector3Stamped ARDroneDriver::mag_msg [private]

Definition at line 133 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::mag_pub [private]

Definition at line 82 of file ardrone_driver.h.

int ARDroneDriver::max_num_samples [private]

Definition at line 138 of file ardrone_driver.h.

ros::Publisher ARDroneDriver::navdata_pub [private]

Definition at line 80 of file ardrone_driver.h.

ros::NodeHandle ARDroneDriver::node_handle [private]

Definition at line 67 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::reset_sub [private]

Definition at line 70 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::setCamChannel_service [private]

Definition at line 88 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::setFlightAnimation_service [private]

Definition at line 92 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::setLedAnimation_service [private]

Definition at line 89 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::setRecord_service [private]

Definition at line 93 of file ardrone_driver.h.

ros::Subscriber ARDroneDriver::takeoff_sub [private]

Definition at line 69 of file ardrone_driver.h.

tf::StampedTransform ARDroneDriver::tf_base_bottom [private]

Definition at line 129 of file ardrone_driver.h.

tf::StampedTransform ARDroneDriver::tf_base_front [private]

Definition at line 129 of file ardrone_driver.h.

tf::TransformBroadcaster ARDroneDriver::tf_broad [private]

Definition at line 84 of file ardrone_driver.h.

ros::ServiceServer ARDroneDriver::toggleCam_service [private]

Definition at line 87 of file ardrone_driver.h.

double ARDroneDriver::vel_bias[3] [private]

Definition at line 142 of file ardrone_driver.h.

std::vector< std::vector<double> > ARDroneDriver::vel_samples [private]

Definition at line 145 of file ardrone_driver.h.

image_transport::CameraPublisher ARDroneDriver::vert_pub [private]

Definition at line 75 of file ardrone_driver.h.

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

ardrone_autonomy
Author(s): Mani Monajjemi, Mani Monajjemi
autogenerated on Sun Oct 5 2014 22:17:06