estimation::OdomEstimationNode Class Reference

#include <odom_estimation_node.h>

List of all members.

Public Member Functions
	OdomEstimationNode ()
	constructor
virtual	~OdomEstimationNode ()
	destructor
Private Member Functions
bool	getStatus (robot_pose_ekf::GetStatus::Request &req, robot_pose_ekf::GetStatus::Response &resp)
	get the status of the filter
void	gpsCallback (const GpsConstPtr &gps)
	callback function for vo data
void	imuCallback (const ImuConstPtr &imu)
	callback function for imu data
void	odomCallback (const OdomConstPtr &odom)
	callback function for odo data
void	spin (const ros::TimerEvent &e)
	the mail filter loop that will be called periodically
void	voCallback (const VoConstPtr &vo)
	callback function for vo data
Private Attributes
std::string	base_footprint_frame_
tf::Transform	base_gps_init_
tf::Transform	base_vo_init_
tf::StampedTransform	camera_base_
std::ofstream	corr_file_
bool	debug_
unsigned int	ekf_sent_counter_
std::ofstream	extra_file_
ros::Time	filter_stamp_
bool	gps_active_
unsigned int	gps_callback_counter_
MatrixWrapper::SymmetricMatrix	gps_covariance_
std::ofstream	gps_file_
ros::Time	gps_init_stamp_
bool	gps_initializing_
tf::Transform	gps_meas_
ros::Time	gps_stamp_
ros::Subscriber	gps_sub_
ros::Time	gps_time_
bool	gps_used_
bool	imu_active_
unsigned int	imu_callback_counter_
MatrixWrapper::SymmetricMatrix	imu_covariance_
std::ofstream	imu_file_
ros::Time	imu_init_stamp_
bool	imu_initializing_
tf::Transform	imu_meas_
ros::Time	imu_stamp_
ros::Subscriber	imu_sub_
ros::Time	imu_time_
bool	imu_used_
OdomEstimation	my_filter_
ros::NodeHandle	node_
bool	odom_active_
tf::TransformBroadcaster	odom_broadcaster_
unsigned int	odom_callback_counter_
MatrixWrapper::SymmetricMatrix	odom_covariance_
std::ofstream	odom_file_
ros::Time	odom_init_stamp_
bool	odom_initializing_
tf::Transform	odom_meas_
ros::Time	odom_stamp_
ros::Subscriber	odom_sub_
ros::Time	odom_time_
bool	odom_used_
geometry_msgs::PoseWithCovarianceStamped	output_
std::string	output_frame_
ros::Publisher	pose_pub_
tf::TransformListener	robot_state_
bool	self_diagnose_
ros::ServiceServer	state_srv_
std::string	tf_prefix_
std::ofstream	time_file_
double	timeout_
ros::Timer	timer_
bool	vo_active_
unsigned int	vo_callback_counter_
MatrixWrapper::SymmetricMatrix	vo_covariance_
std::ofstream	vo_file_
ros::Time	vo_init_stamp_
bool	vo_initializing_
tf::Transform	vo_meas_
ros::Time	vo_stamp_
ros::Subscriber	vo_sub_
ros::Time	vo_time_
bool	vo_used_

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Detailed Description

Definition at line 77 of file odom_estimation_node.h.

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Constructor & Destructor Documentation

estimation::OdomEstimationNode::OdomEstimationNode

(

)

constructor

Definition at line 54 of file odom_estimation_node.cpp.

estimation::OdomEstimationNode::~OdomEstimationNode

(

)

[virtual]

destructor

Definition at line 156 of file odom_estimation_node.cpp.

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Member Function Documentation

bool estimation::OdomEstimationNode::getStatus	(	robot_pose_ekf::GetStatus::Request &	req,
		robot_pose_ekf::GetStatus::Response &	resp
	)		[private]

get the status of the filter

Definition at line 472 of file odom_estimation_node.cpp.

void estimation::OdomEstimationNode::gpsCallback

(

const GpsConstPtr &

gps

)

[private]

callback function for vo data

Definition at line 332 of file odom_estimation_node.cpp.

void estimation::OdomEstimationNode::imuCallback

(

const ImuConstPtr &

imu

)

[private]

callback function for imu data

Definition at line 220 of file odom_estimation_node.cpp.

void estimation::OdomEstimationNode::odomCallback

(

const OdomConstPtr &

odom

)

[private]

callback function for odo data

Definition at line 173 of file odom_estimation_node.cpp.

void estimation::OdomEstimationNode::spin

(

const ros::TimerEvent &

e

)

[private]

the mail filter loop that will be called periodically

Definition at line 372 of file odom_estimation_node.cpp.

void estimation::OdomEstimationNode::voCallback

(

const VoConstPtr &

vo

)

[private]

callback function for vo data

Definition at line 291 of file odom_estimation_node.cpp.

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Member Data Documentation

std::string estimation::OdomEstimationNode::base_footprint_frame_ [private]

Definition at line 136 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::base_gps_init_ [private]

Definition at line 125 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::base_vo_init_ [private]

Definition at line 124 of file odom_estimation_node.h.

tf::StampedTransform estimation::OdomEstimationNode::camera_base_ [private]

Definition at line 126 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::corr_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::debug_ [private]

Definition at line 135 of file odom_estimation_node.h.

unsigned int estimation::OdomEstimationNode::ekf_sent_counter_ [private]

Definition at line 142 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::extra_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::filter_stamp_ [private]

Definition at line 128 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::gps_active_ [private]

Definition at line 130 of file odom_estimation_node.h.

unsigned int estimation::OdomEstimationNode::gps_callback_counter_ [private]

Definition at line 142 of file odom_estimation_node.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::gps_covariance_ [private]

Definition at line 134 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::gps_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::gps_init_stamp_ [private]

Definition at line 129 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::gps_initializing_ [private]

Definition at line 132 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::gps_meas_ [private]

Definition at line 123 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::gps_stamp_ [private]

Definition at line 128 of file odom_estimation_node.h.

ros::Subscriber estimation::OdomEstimationNode::gps_sub_ [private]

Definition at line 109 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::gps_time_ [private]

Definition at line 127 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::gps_used_ [private]

Definition at line 131 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::imu_active_ [private]

Definition at line 130 of file odom_estimation_node.h.

unsigned int estimation::OdomEstimationNode::imu_callback_counter_ [private]

Definition at line 142 of file odom_estimation_node.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::imu_covariance_ [private]

Definition at line 134 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::imu_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::imu_init_stamp_ [private]

Definition at line 129 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::imu_initializing_ [private]

Definition at line 132 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::imu_meas_ [private]

Definition at line 123 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::imu_stamp_ [private]

Definition at line 128 of file odom_estimation_node.h.

ros::Subscriber estimation::OdomEstimationNode::imu_sub_ [private]

Definition at line 109 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::imu_time_ [private]

Definition at line 127 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::imu_used_ [private]

Definition at line 131 of file odom_estimation_node.h.

OdomEstimation estimation::OdomEstimationNode::my_filter_ [private]

Definition at line 113 of file odom_estimation_node.h.

ros::NodeHandle estimation::OdomEstimationNode::node_ [private]

Definition at line 106 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::odom_active_ [private]

Definition at line 130 of file odom_estimation_node.h.

tf::TransformBroadcaster estimation::OdomEstimationNode::odom_broadcaster_ [private]

Definition at line 120 of file odom_estimation_node.h.

unsigned int estimation::OdomEstimationNode::odom_callback_counter_ [private]

Definition at line 142 of file odom_estimation_node.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::odom_covariance_ [private]

Definition at line 134 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::odom_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::odom_init_stamp_ [private]

Definition at line 129 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::odom_initializing_ [private]

Definition at line 132 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::odom_meas_ [private]

Definition at line 123 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::odom_stamp_ [private]

Definition at line 128 of file odom_estimation_node.h.

ros::Subscriber estimation::OdomEstimationNode::odom_sub_ [private]

Definition at line 109 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::odom_time_ [private]

Definition at line 127 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::odom_used_ [private]

Definition at line 131 of file odom_estimation_node.h.

geometry_msgs::PoseWithCovarianceStamped estimation::OdomEstimationNode::output_ [private]

Definition at line 116 of file odom_estimation_node.h.

std::string estimation::OdomEstimationNode::output_frame_ [private]

Definition at line 136 of file odom_estimation_node.h.

ros::Publisher estimation::OdomEstimationNode::pose_pub_ [private]

Definition at line 108 of file odom_estimation_node.h.

tf::TransformListener estimation::OdomEstimationNode::robot_state_ [private]

Definition at line 119 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::self_diagnose_ [private]

Definition at line 135 of file odom_estimation_node.h.

ros::ServiceServer estimation::OdomEstimationNode::state_srv_ [private]

Definition at line 110 of file odom_estimation_node.h.

std::string estimation::OdomEstimationNode::tf_prefix_ [private]

Definition at line 136 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::time_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

double estimation::OdomEstimationNode::timeout_ [private]

Definition at line 133 of file odom_estimation_node.h.

ros::Timer estimation::OdomEstimationNode::timer_ [private]

Definition at line 107 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::vo_active_ [private]

Definition at line 130 of file odom_estimation_node.h.

unsigned int estimation::OdomEstimationNode::vo_callback_counter_ [private]

Definition at line 142 of file odom_estimation_node.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::vo_covariance_ [private]

Definition at line 134 of file odom_estimation_node.h.

std::ofstream estimation::OdomEstimationNode::vo_file_ [private]

Definition at line 139 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::vo_init_stamp_ [private]

Definition at line 129 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::vo_initializing_ [private]

Definition at line 132 of file odom_estimation_node.h.

tf::Transform estimation::OdomEstimationNode::vo_meas_ [private]

Definition at line 123 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::vo_stamp_ [private]

Definition at line 128 of file odom_estimation_node.h.

ros::Subscriber estimation::OdomEstimationNode::vo_sub_ [private]

Definition at line 109 of file odom_estimation_node.h.

ros::Time estimation::OdomEstimationNode::vo_time_ [private]

Definition at line 127 of file odom_estimation_node.h.

bool estimation::OdomEstimationNode::vo_used_ [private]

Definition at line 131 of file odom_estimation_node.h.

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

• odom_estimation_node.h
• odom_estimation_node.cpp