#include <navsat_transform_new.h>

Public Member Functions
	NavSatTransformNew ()
void	run ()
	~NavSatTransformNew ()
Protected Member Functions
void	computeTransform ()
void	gpsFixCallback (const sensor_msgs::NavSatFixConstPtr &msg)
void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
void	localOdomCallback (const nav_msgs::OdometryConstPtr &msg)
void	odomCallback (const nav_msgs::OdometryConstPtr &msg)
bool	prepareGpsOdometry (nav_msgs::Odometry &gpsOdom)
void	setTransformGps (const sensor_msgs::NavSatFixConstPtr &msg)
void	setTransformOdometry (const nav_msgs::OdometryConstPtr &msg)
Protected Attributes
std::string	baseLinkFrameId_
bool	broadcastUtmTransform_
bool	gpsUpdated_
ros::Time	gpsUpdateTime_
bool	hasToPublish_
bool	hasTransformGps_
bool	hasTransformImu_
bool	hasTransformOdom_
Eigen::MatrixXd	latestOdomCovariance_
Eigen::MatrixXd	latestUtmCovariance_
tf2::Transform	latestUtmPose_
tf2::Transform	latestWorldPose_
std::string	localOdomTopic_
	Parameter that specifies the topic from which get the travelled distance to update GPS odometry.
double	magneticDeclination_
bool	odomUpdated_
ros::Time	odomUpdateTime_
double	previous_x_
double	previous_y_
bool	publishGps_
tf2_ros::Buffer	tfBuffer_
tf2_ros::TransformListener	tfListener_
bool	transformGood_
tf2::Quaternion	transformOrientation_
tf2::Transform	transformUtmPose_
tf2::Transform	transformWorldPose_
double	travelledDistance_
	Parameter that specifies the travelledDistance after which update the odometry provided by GPS if negative, the update is continuous (standard NavSatTransform node behaviour)
tf2_ros::StaticTransformBroadcaster	utmBroadcaster_
double	utmOdomTfYaw_
tf2::Transform	utmWorldTransform_
tf2::Transform	utmWorldTransInverse_
std::string	utmZone_
std::string	worldFrameId_
double	yawOffset_
bool	zeroAltitude_

Detailed Description

Definition at line 16 of file navsat_transform_new.h.

Constructor & Destructor Documentation

RobotLocalization::NavSatTransformNew::NavSatTransformNew ( )

Definition at line 14 of file navsat_transform_new.cpp.

RobotLocalization::NavSatTransformNew::~NavSatTransformNew ( )

Definition at line 40 of file navsat_transform_new.cpp.

Member Function Documentation

void RobotLocalization::NavSatTransformNew::computeTransform ( ) [protected]

Definition at line 190 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::gpsFixCallback ( const sensor_msgs::NavSatFixConstPtr & msg ) [protected]

Definition at line 69 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::imuCallback ( const sensor_msgs::ImuConstPtr & msg ) [protected]

Definition at line 135 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::localOdomCallback ( const nav_msgs::OdometryConstPtr & msg ) [protected]

Definition at line 42 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::odomCallback ( const nav_msgs::OdometryConstPtr & msg ) [protected]

Definition at line 57 of file navsat_transform_new.cpp.

bool RobotLocalization::NavSatTransformNew::prepareGpsOdometry ( nav_msgs::Odometry & gpsOdom ) [protected]

Definition at line 282 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::run ( )

Definition at line 335 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::setTransformGps ( const sensor_msgs::NavSatFixConstPtr & msg ) [protected]

Definition at line 108 of file navsat_transform_new.cpp.

void RobotLocalization::NavSatTransformNew::setTransformOdometry ( const nav_msgs::OdometryConstPtr & msg ) [protected]

Definition at line 122 of file navsat_transform_new.cpp.

Member Data Documentation

std::string RobotLocalization::NavSatTransformNew::baseLinkFrameId_ [protected]

Definition at line 63 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::broadcastUtmTransform_ [protected]

Definition at line 40 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::gpsUpdated_ [protected]

Definition at line 50 of file navsat_transform_new.h.

ros::Time RobotLocalization::NavSatTransformNew::gpsUpdateTime_ [protected]

Definition at line 53 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::hasToPublish_ [protected]

Definition at line 96 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::hasTransformGps_ [protected]

Definition at line 45 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::hasTransformImu_ [protected]

Definition at line 47 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::hasTransformOdom_ [protected]

Definition at line 46 of file navsat_transform_new.h.

Eigen::MatrixXd RobotLocalization::NavSatTransformNew::latestOdomCovariance_ [protected]

Definition at line 77 of file navsat_transform_new.h.

Eigen::MatrixXd RobotLocalization::NavSatTransformNew::latestUtmCovariance_ [protected]

Definition at line 76 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::latestUtmPose_ [protected]

Definition at line 69 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::latestWorldPose_ [protected]

Definition at line 68 of file navsat_transform_new.h.

std::string RobotLocalization::NavSatTransformNew::localOdomTopic_ [protected]

Parameter that specifies the topic from which get the travelled distance to update GPS odometry.

Definition at line 95 of file navsat_transform_new.h.

double RobotLocalization::NavSatTransformNew::magneticDeclination_ [protected]

Definition at line 42 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::odomUpdated_ [protected]

Definition at line 51 of file navsat_transform_new.h.

ros::Time RobotLocalization::NavSatTransformNew::odomUpdateTime_ [protected]

Definition at line 55 of file navsat_transform_new.h.

double RobotLocalization::NavSatTransformNew::previous_x_ [protected]

Definition at line 91 of file navsat_transform_new.h.

double RobotLocalization::NavSatTransformNew::previous_y_ [protected]

Definition at line 92 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::publishGps_ [protected]

Definition at line 61 of file navsat_transform_new.h.

tf2_ros::Buffer RobotLocalization::NavSatTransformNew::tfBuffer_ [protected]

Definition at line 79 of file navsat_transform_new.h.

tf2_ros::TransformListener RobotLocalization::NavSatTransformNew::tfListener_ [protected]

Definition at line 80 of file navsat_transform_new.h.

bool RobotLocalization::NavSatTransformNew::transformGood_ [protected]

Definition at line 48 of file navsat_transform_new.h.

tf2::Quaternion RobotLocalization::NavSatTransformNew::transformOrientation_ [protected]

Definition at line 74 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::transformUtmPose_ [protected]

Definition at line 71 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::transformWorldPose_ [protected]

Definition at line 72 of file navsat_transform_new.h.

double RobotLocalization::NavSatTransformNew::travelledDistance_ [protected]

Parameter that specifies the travelledDistance after which update the odometry provided by GPS if negative, the update is continuous (standard NavSatTransform node behaviour)

Definition at line 90 of file navsat_transform_new.h.

tf2_ros::StaticTransformBroadcaster RobotLocalization::NavSatTransformNew::utmBroadcaster_ [protected]

Definition at line 81 of file navsat_transform_new.h.

double RobotLocalization::NavSatTransformNew::utmOdomTfYaw_ [protected]

Definition at line 43 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::utmWorldTransform_ [protected]

Definition at line 83 of file navsat_transform_new.h.

tf2::Transform RobotLocalization::NavSatTransformNew::utmWorldTransInverse_ [protected]

Definition at line 84 of file navsat_transform_new.h.

std::string RobotLocalization::NavSatTransformNew::utmZone_ [protected]

Definition at line 66 of file navsat_transform_new.h.

std::string RobotLocalization::NavSatTransformNew::worldFrameId_ [protected]