nav_node.cpp File Reference

#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/XYModel.hpp>
#include <labust/math/uBlasOperations.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/GeoUtilities.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>
#include <labust/tools/DynamicsLoader.hpp>
#include <labust/simulation/DynamicsParams.hpp>
#include <kdl/frames.hpp>
#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyForceReq.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <boost/bind.hpp>
#include <sstream>
#include <fstream>

Include dependency graph for nav_node.cpp:

Go to the source code of this file.

Typedefs
typedef labust::navigation::KFCore < labust::navigation::XYModel >	KFNav
Functions
void	configureNav (KFNav &nav, ros::NodeHandle &nh)
void	handleGPS (KFNav::vector &xy, const sensor_msgs::NavSatFix::ConstPtr &data)
void	handleImu (KFNav::vector &rpy, const sensor_msgs::Imu::ConstPtr &data)
void	handleTau (KFNav::vector &tauIn, const auv_msgs::BodyForceReq::ConstPtr &tau)
int	main (int argc, char *argv[])
KFNav::vector	measurement (KFNav::zeros(KFNav::stateNum))
KFNav::vector	newMeas (KFNav::zeros(KFNav::stateNum))
void	offline_sim (const std::string &filename, KFNav &ekf)
Variables
tf::TransformListener *	listener
ros::Time	t

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Typedef Documentation

typedef labust::navigation::KFCore<labust::navigation::XYModel> KFNav

Definition at line 62 of file nav_node.cpp.

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Function Documentation

void configureNav	(	KFNav &	nav,
		ros::NodeHandle &	nh
	)

Definition at line 151 of file nav_node.cpp.

void handleGPS	(	KFNav::vector &	xy,
		const sensor_msgs::NavSatFix::ConstPtr &	data
	)

Definition at line 75 of file nav_node.cpp.

void handleImu	(	KFNav::vector &	rpy,
		const sensor_msgs::Imu::ConstPtr &	data
	)

Definition at line 111 of file nav_node.cpp.

void handleTau	(	KFNav::vector &	tauIn,
		const auv_msgs::BodyForceReq::ConstPtr &	tau
	)

Definition at line 68 of file nav_node.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 293 of file nav_node.cpp.

KFNav::vector measurement

(

KFNav::

zerosKFNav::stateNum

)

KFNav::vector newMeas

(

KFNav::

zerosKFNav::stateNum

)

void offline_sim	(	const std::string &	filename,
		KFNav &	ekf
	)

Definition at line 199 of file nav_node.cpp.

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Variable Documentation

tf::TransformListener* listener

Definition at line 63 of file nav_node.cpp.

ros::Time t

Definition at line 65 of file nav_node.cpp.