SetInitialStateFilter Class Reference

Public Member Functions
void	gpsCallback (const sensor_msgs::NavSatFixConstPtr &msg)
void	gpsToRobotPose (const tf2::Transform &gps_odom_pose, tf2::Transform &robot_odom_pose, const ros::Time &transform_time)
void	headingCb (const sensor_msgs::ImuConstPtr &imu_msg)
void	init ()
	SetInitialStateFilter (const ros::NodeHandle &node_handle, const ros::NodeHandle &private_node_handle)
nav_msgs::Odometry	utmToMap (const tf2::Transform &utm_pose, const ros::Time &transform_time) const
	~SetInitialStateFilter ()=default

Public Attributes
std::string	base_link_frame_id_ {"scouting_wrt_ground_link"}
int	gps_count_ {0}
std::string	gps_frame_id_ {""}
sensor_msgs::NavSatFix	gps_msg_avg_
int	heading_count_ {0}
sensor_msgs::Imu	imu_msg_avg_
int	N_gps_ {1}
int	N_heading_ {1}
ros::NodeHandle	nh_
std::string	path_
ros::NodeHandle	pnh_
tf2::Quaternion	robot_orientation_
tf::Quaternion	robot_quat_
bool	rtk_fix_ {false}
ros::Subscriber	sub_gps_
ros::Subscriber	sub_heading_
tf2_ros::Buffer	tf_buffer_
tf2_ros::TransformListener	tf_listener_ {tf_buffer_}
ros::Duration	transform_timeout_ {ros::Duration(0)}
Eigen::MatrixXd	utm_covariance_
tf2::Transform	utm_pose_
std::string	world_frame_id_ {"odom"}
bool	zero_altitude_ {false}

Detailed Description

Definition at line 28 of file set_initial_state_filter.cpp.

Constructor & Destructor Documentation

SetInitialStateFilter::SetInitialStateFilter ( const ros::NodeHandle &  node_handle, const ros::NodeHandle &  private_node_handle  )

inline

Definition at line 31 of file set_initial_state_filter.cpp.

SetInitialStateFilter::~SetInitialStateFilter ( )

default

Member Function Documentation

void SetInitialStateFilter::gpsCallback

(

const sensor_msgs::NavSatFixConstPtr &

msg

)

Definition at line 110 of file set_initial_state_filter.cpp.

void SetInitialStateFilter::gpsToRobotPose	(	const tf2::Transform &	gps_odom_pose,
		tf2::Transform &	robot_odom_pose,
		const ros::Time &	transform_time
	)

Definition at line 218 of file set_initial_state_filter.cpp.

void SetInitialStateFilter::headingCb

(

const sensor_msgs::ImuConstPtr &

imu_msg

)

Definition at line 92 of file set_initial_state_filter.cpp.

void SetInitialStateFilter::init

(

)

Definition at line 74 of file set_initial_state_filter.cpp.

nav_msgs::Odometry SetInitialStateFilter::utmToMap	(	const tf2::Transform &	utm_pose,
		const ros::Time &	transform_time
	)		const

Definition at line 189 of file set_initial_state_filter.cpp.

Member Data Documentation

std::string SetInitialStateFilter::base_link_frame_id_ {"scouting_wrt_ground_link"}

Definition at line 51 of file set_initial_state_filter.cpp.

int SetInitialStateFilter::gps_count_ {0}

Definition at line 45 of file set_initial_state_filter.cpp.

std::string SetInitialStateFilter::gps_frame_id_ {""}

Definition at line 53 of file set_initial_state_filter.cpp.

sensor_msgs::NavSatFix SetInitialStateFilter::gps_msg_avg_

Definition at line 62 of file set_initial_state_filter.cpp.

int SetInitialStateFilter::heading_count_ {0}

Definition at line 47 of file set_initial_state_filter.cpp.

sensor_msgs::Imu SetInitialStateFilter::imu_msg_avg_

Definition at line 63 of file set_initial_state_filter.cpp.

int SetInitialStateFilter::N_gps_ {1}

Definition at line 46 of file set_initial_state_filter.cpp.

int SetInitialStateFilter::N_heading_ {1}

Definition at line 48 of file set_initial_state_filter.cpp.

ros::NodeHandle SetInitialStateFilter::nh_

Definition at line 66 of file set_initial_state_filter.cpp.

std::string SetInitialStateFilter::path_

Definition at line 54 of file set_initial_state_filter.cpp.

ros::NodeHandle SetInitialStateFilter::pnh_

Definition at line 67 of file set_initial_state_filter.cpp.

tf2::Quaternion SetInitialStateFilter::robot_orientation_

Definition at line 58 of file set_initial_state_filter.cpp.

tf::Quaternion SetInitialStateFilter::robot_quat_

Definition at line 57 of file set_initial_state_filter.cpp.

bool SetInitialStateFilter::rtk_fix_ {false}

Definition at line 50 of file set_initial_state_filter.cpp.

ros::Subscriber SetInitialStateFilter::sub_gps_

Definition at line 71 of file set_initial_state_filter.cpp.

ros::Subscriber SetInitialStateFilter::sub_heading_

Definition at line 70 of file set_initial_state_filter.cpp.

tf2_ros::Buffer SetInitialStateFilter::tf_buffer_

Definition at line 60 of file set_initial_state_filter.cpp.

tf2_ros::TransformListener SetInitialStateFilter::tf_listener_ {tf_buffer_}

Definition at line 61 of file set_initial_state_filter.cpp.

ros::Duration SetInitialStateFilter::transform_timeout_ {ros::Duration(0)}

Definition at line 56 of file set_initial_state_filter.cpp.

Eigen::MatrixXd SetInitialStateFilter::utm_covariance_

Definition at line 55 of file set_initial_state_filter.cpp.

tf2::Transform SetInitialStateFilter::utm_pose_

Definition at line 59 of file set_initial_state_filter.cpp.

std::string SetInitialStateFilter::world_frame_id_ {"odom"}

Definition at line 52 of file set_initial_state_filter.cpp.

bool SetInitialStateFilter::zero_altitude_ {false}

Definition at line 49 of file set_initial_state_filter.cpp.

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

• set_initial_state_filter.cpp