#include <CPCSensor.hh>

Public Member Functions
	CPCSensor ()
	Class constructor. More...

	~CPCSensor ()
	Class destructor. More...

Protected Member Functions
void	OnGPSUpdate (const sensor_msgs::NavSatFix::ConstPtr &_msg)
	Update the GPS update callback. More...

void	OnOdometryUpdate (const nav_msgs::Odometry::ConstPtr &_msg)
	Update the odometry callback. More...

void	OnPlumeParticlesUpdate (const sensor_msgs::PointCloud::ConstPtr &_msg)
	Update callback from the plume particles. More...

void	OnSensorUpdate (const ros::TimerEvent &)
	Update the output concentration and salinity topics. More...

Protected Attributes
bool	areParticlesInit
	Flag set to true after the first set of plume particles is received. More...

geometry_msgs::Vector3	cartPos
	Measured Cartesian position. More...

uuv_plume_msgs::ParticleConcentration	concentrationMsg
	Plume concentration message. More...

ros::Publisher	concentrationPub
	Output topic for particle concentration. More...

double	gain
	Sensor gain. More...

double	gamma
	Gamma velocity parameter for the smoothing function. More...

geographic_msgs::GeoPoint	geoPos
	Measured geodetic position. More...

ros::Subscriber	gpsSub
	Subscriber to the GPS update topic. More...

std::shared_ptr< ros::NodeHandle >	nodeHandle
	ROS node handle. More...

double	noiseAmp
	Noise amplitude. More...

std::normal_distribution< double >	noiseModel
	Normal distribution describing the noise model. More...

double	noiseSigma
	Noise standard deviation. More...

ros::Subscriber	odometrySub
	Subscriber for odometry topic. More...

ros::Subscriber	particlesSub
	Subscriber for the plume particle point cloud. More...

double	plumeSalinityValue
	Default salinity value for the plume. More...

GeographicLib::LocalCartesian	projection
	Local Cartesian projection. More...

bool	publishSalinity
	Flag to activate publishing the simulated salinity. More...

double	referenceSalinityValue
	Default salinity value for the fluid e.g. sea water. More...

std::default_random_engine	rndGen
	Pseudo random number generator. More...

uuv_plume_msgs::Salinity	salinityMsg
	Salinity message. More...

ros::Publisher	salinityPub
	Output topic for salinity. More...

std::string	salinityUnit
	Salinity unit to be used. Options are. More...

double	saturation
	Sensor saturation. More...

std::string	sensorFrameID
	Name of the sensor frame. More...

double	smoothingLength
	Radius of the kernel to identify particles that will be taken into account in the concentration computation. More...

tf2_ros::Buffer	tfBuffer
	TF buffer instance. More...

std::shared_ptr< tf2_ros::TransformListener >	tfListener
	TF listener pointer. More...

bool	updateMeasurement
	Set to true to avoid particle update. More...

double	updateRate
	Output topic's update rate. More...

ros::Timer	updateTimer
	Sensor update timer. More...

bool	updatingCloud
	Flag to ensure the cloud and measurement update don't coincide. More...

bool	useGeoCoordinates
	Flag that will allow storing the geodetic coordinates with the measurement message. More...

bool	useGPS
	Flag set if the sensor position update must be read from the vehicle's GPS topic. More...

bool	useOdom
	Flag set if the sensor position update must be read from the vehicle's odometry input topic. More...

bool	useTFUpdate
	Flag set if the TF update wrt the sensor frame ID. More...

Detailed Description

Definition at line 44 of file CPCSensor.hh.

Constructor & Destructor Documentation

CPCSensor::CPCSensor ( )

Class constructor.

Definition at line 21 of file CPCSensor.cc.

CPCSensor::~CPCSensor ( )

Class destructor.

Definition at line 187 of file CPCSensor.cc.

Member Function Documentation

void CPCSensor::OnGPSUpdate ( const sensor_msgs::NavSatFix::ConstPtr & _msg )

protected

Update the GPS update callback.

Definition at line 330 of file CPCSensor.cc.

void CPCSensor::OnOdometryUpdate ( const nav_msgs::Odometry::ConstPtr & _msg )

protected

Update the odometry callback.

Definition at line 316 of file CPCSensor.cc.

void CPCSensor::OnPlumeParticlesUpdate ( const sensor_msgs::PointCloud::ConstPtr & _msg )

protected

Update callback from the plume particles.

Definition at line 193 of file CPCSensor.cc.

void CPCSensor::OnSensorUpdate ( const ros::TimerEvent & )

protected

Update the output concentration and salinity topics.

Definition at line 348 of file CPCSensor.cc.

Member Data Documentation

bool uuv_plume_simulator::CPCSensor::areParticlesInit

protected

Flag set to true after the first set of plume particles is received.

Definition at line 113 of file CPCSensor.hh.

geometry_msgs::Vector3 uuv_plume_simulator::CPCSensor::cartPos

protected

Measured Cartesian position.

Definition at line 127 of file CPCSensor.hh.

uuv_plume_msgs::ParticleConcentration uuv_plume_simulator::CPCSensor::concentrationMsg

protected

Plume concentration message.

Definition at line 160 of file CPCSensor.hh.

ros::Publisher uuv_plume_simulator::CPCSensor::concentrationPub

protected

Output topic for particle concentration.

Definition at line 142 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::gain

protected

Sensor gain.

Definition at line 74 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::gamma

protected

Gamma velocity parameter for the smoothing function.

Definition at line 71 of file CPCSensor.hh.

geographic_msgs::GeoPoint uuv_plume_simulator::CPCSensor::geoPos

protected

Measured geodetic position.

Definition at line 130 of file CPCSensor.hh.

ros::Subscriber uuv_plume_simulator::CPCSensor::gpsSub

protected

Subscriber to the GPS update topic.

Definition at line 139 of file CPCSensor.hh.

std::shared_ptr<ros::NodeHandle> uuv_plume_simulator::CPCSensor::nodeHandle

protected

ROS node handle.

Definition at line 148 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::noiseAmp

protected

Noise amplitude.

Definition at line 175 of file CPCSensor.hh.

std::normal_distribution<double> uuv_plume_simulator::CPCSensor::noiseModel

protected

Normal distribution describing the noise model.

Definition at line 172 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::noiseSigma

protected

Noise standard deviation.

Definition at line 178 of file CPCSensor.hh.

ros::Subscriber uuv_plume_simulator::CPCSensor::odometrySub

protected

Subscriber for odometry topic.

Definition at line 136 of file CPCSensor.hh.

ros::Subscriber uuv_plume_simulator::CPCSensor::particlesSub

protected

Subscriber for the plume particle point cloud.

Definition at line 133 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::plumeSalinityValue

protected

Default salinity value for the plume.

Definition at line 100 of file CPCSensor.hh.

GeographicLib::LocalCartesian uuv_plume_simulator::CPCSensor::projection

protected

Local Cartesian projection.

Definition at line 157 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::publishSalinity

protected

Flag to activate publishing the simulated salinity.

Definition at line 94 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::referenceSalinityValue

protected

Default salinity value for the fluid e.g. sea water.

Definition at line 97 of file CPCSensor.hh.

std::default_random_engine uuv_plume_simulator::CPCSensor::rndGen

protected

Pseudo random number generator.

Definition at line 169 of file CPCSensor.hh.

uuv_plume_msgs::Salinity uuv_plume_simulator::CPCSensor::salinityMsg

protected

Salinity message.

Definition at line 163 of file CPCSensor.hh.

ros::Publisher uuv_plume_simulator::CPCSensor::salinityPub

protected

Output topic for salinity.

Definition at line 145 of file CPCSensor.hh.

std::string uuv_plume_simulator::CPCSensor::salinityUnit

protected

Salinity unit to be used. Options are.

ppt (parts per thousand)
ppm (parts per million)
psu (practical salinity unit)

Definition at line 84 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::saturation

protected

Sensor saturation.

Definition at line 87 of file CPCSensor.hh.

std::string uuv_plume_simulator::CPCSensor::sensorFrameID

protected

Name of the sensor frame.

Definition at line 109 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::smoothingLength

protected

Radius of the kernel to identify particles that will be taken into account in the concentration computation.

Definition at line 78 of file CPCSensor.hh.

tf2_ros::Buffer uuv_plume_simulator::CPCSensor::tfBuffer

protected

TF buffer instance.

Definition at line 151 of file CPCSensor.hh.

std::shared_ptr<tf2_ros::TransformListener> uuv_plume_simulator::CPCSensor::tfListener

protected

TF listener pointer.

Definition at line 154 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::updateMeasurement

protected

Set to true to avoid particle update.

Definition at line 103 of file CPCSensor.hh.

double uuv_plume_simulator::CPCSensor::updateRate

protected

Output topic's update rate.

Definition at line 106 of file CPCSensor.hh.

ros::Timer uuv_plume_simulator::CPCSensor::updateTimer

protected

Sensor update timer.

Definition at line 166 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::updatingCloud

protected

Flag to ensure the cloud and measurement update don't coincide.

Definition at line 68 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::useGeoCoordinates

protected

Flag that will allow storing the geodetic coordinates with the measurement message.

Definition at line 91 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::useGPS

protected

Flag set if the sensor position update must be read from the vehicle's GPS topic.

Definition at line 121 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::useOdom

protected

Flag set if the sensor position update must be read from the vehicle's odometry input topic.

Definition at line 117 of file CPCSensor.hh.

bool uuv_plume_simulator::CPCSensor::useTFUpdate

protected

Flag set if the TF update wrt the sensor frame ID.

Definition at line 124 of file CPCSensor.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation