novatel_oem7_driver::INSHandler Class Reference

Inheritance diagram for novatel_oem7_driver::INSHandler:

Public Member Functions
const std::vector< int > &	getMessageIds ()
void	handleMsg (Oem7RawMessageIf::ConstPtr msg)
void	initialize (ros::NodeHandle &nh)
	INSHandler ()
	~INSHandler ()
Public Member Functions inherited from novatel_oem7_driver::Oem7MessageHandlerIf
virtual	~Oem7MessageHandlerIf ()

Private Types
typedef std::map< std::string, std::string >	imu_config_map_t

Private Member Functions
void	getImuDescription (imu_type_t imu_type, std::string &desc)
void	getImuParam (imu_type_t imu_type, const std::string &name, std::string &param)
int	getImuRate (imu_type_t imu_type)
void	processInsConfigMsg (Oem7RawMessageIf::ConstPtr msg)
void	publishCorrImuMsg (Oem7RawMessageIf::ConstPtr msg)
void	publishImuMsg ()
void	publishInsPVAXMsg (Oem7RawMessageIf::ConstPtr msg)
void	publishInsStDevMsg (Oem7RawMessageIf::ConstPtr msg)

Private Attributes
boost::shared_ptr< novatel_oem7_msgs::CORRIMU >	corrimu_
Oem7RosPublisher	corrimu_pub_
std::string	frame_id_
imu_config_map_t	imu_config_map
Oem7RosPublisher	imu_pub_
int	imu_rate_
Oem7RosPublisher	insconfig_pub_
boost::shared_ptr< novatel_oem7_msgs::INSPVA >	inspva_
Oem7RosPublisher	inspvax_pub_
boost::shared_ptr< novatel_oem7_msgs::INSSTDEV >	insstdev_
Oem7RosPublisher	insstdev_pub_
ros::NodeHandle	nh_

Detailed Description

Definition at line 73 of file ins_handler.cpp.

Member Typedef Documentation

typedef std::map<std::string, std::string> novatel_oem7_driver::INSHandler::imu_config_map_t

private

Definition at line 90 of file ins_handler.cpp.

Constructor & Destructor Documentation

novatel_oem7_driver::INSHandler::INSHandler ( )

inline

Definition at line 221 of file ins_handler.cpp.

novatel_oem7_driver::INSHandler::~INSHandler ( )

inline

Definition at line 226 of file ins_handler.cpp.

Member Function Documentation

void novatel_oem7_driver::INSHandler::getImuDescription ( imu_type_t  imu_type, std::string &  desc  )

inlineprivate

Definition at line 112 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::getImuParam ( imu_type_t  imu_type, const std::string &  name, std::string &  param  )

inlineprivate

Definition at line 94 of file ins_handler.cpp.

int novatel_oem7_driver::INSHandler::getImuRate ( imu_type_t  imu_type )

inlineprivate

Definition at line 104 of file ins_handler.cpp.

const std::vector<int>& novatel_oem7_driver::INSHandler::getMessageIds ( )

inlinevirtual

Returns

a vector of Oem7 message IDs to be handled by this Handler.

Implements novatel_oem7_driver::Oem7MessageHandlerIf.

Definition at line 247 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::handleMsg ( Oem7RawMessageIf::ConstPtr  msg )

inlinevirtual

Handle a message

Implements novatel_oem7_driver::Oem7MessageHandlerIf.

Definition at line 262 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::initialize ( ros::NodeHandle &  )

inlinevirtual

Initializes the handler

Implements novatel_oem7_driver::Oem7MessageHandlerIf.

Definition at line 230 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::processInsConfigMsg ( Oem7RawMessageIf::ConstPtr  msg )

inlineprivate

Definition at line 118 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::publishCorrImuMsg ( Oem7RawMessageIf::ConstPtr  msg )

inlineprivate

Definition at line 146 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::publishImuMsg ( )

inlineprivate

Definition at line 153 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::publishInsPVAXMsg ( Oem7RawMessageIf::ConstPtr  msg )

inlineprivate

Definition at line 138 of file ins_handler.cpp.

void novatel_oem7_driver::INSHandler::publishInsStDevMsg ( Oem7RawMessageIf::ConstPtr  msg )

inlineprivate

Definition at line 213 of file ins_handler.cpp.

Member Data Documentation

boost::shared_ptr<novatel_oem7_msgs::CORRIMU> novatel_oem7_driver::INSHandler::corrimu_

private

Definition at line 84 of file ins_handler.cpp.

Oem7RosPublisher novatel_oem7_driver::INSHandler::corrimu_pub_

private

Definition at line 78 of file ins_handler.cpp.

std::string novatel_oem7_driver::INSHandler::frame_id_

private

Definition at line 88 of file ins_handler.cpp.

imu_config_map_t novatel_oem7_driver::INSHandler::imu_config_map

private

Definition at line 91 of file ins_handler.cpp.

Oem7RosPublisher novatel_oem7_driver::INSHandler::imu_pub_

private

Definition at line 77 of file ins_handler.cpp.

int novatel_oem7_driver::INSHandler::imu_rate_

private

Definition at line 87 of file ins_handler.cpp.

Oem7RosPublisher novatel_oem7_driver::INSHandler::insconfig_pub_

private

Definition at line 81 of file ins_handler.cpp.

boost::shared_ptr<novatel_oem7_msgs::INSPVA> novatel_oem7_driver::INSHandler::inspva_

private

Definition at line 83 of file ins_handler.cpp.

Oem7RosPublisher novatel_oem7_driver::INSHandler::inspvax_pub_

private

Definition at line 80 of file ins_handler.cpp.

boost::shared_ptr<novatel_oem7_msgs::INSSTDEV> novatel_oem7_driver::INSHandler::insstdev_

private

Definition at line 85 of file ins_handler.cpp.

Oem7RosPublisher novatel_oem7_driver::INSHandler::insstdev_pub_

private

Definition at line 79 of file ins_handler.cpp.

ros::NodeHandle novatel_oem7_driver::INSHandler::nh_

private

Definition at line 75 of file ins_handler.cpp.

---

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

• ins_handler.cpp