#include <ellipse.h>

Public Member Functions
void	configure ()

void	connect ()

	Ellipse (ros::NodeHandle *n)

bool	end_mag_calibration ()

void	init_callback ()

void	init_publishers ()

void	load_param ()

void	publish ()

void	save_config ()

bool	save_mag_calibration ()

bool	set_cmd_aiding_assignement ()

bool	set_cmd_gnss_lever_arm ()

bool	set_cmd_gnss_model ()

bool	set_cmd_gnss_reject_mode ()

bool	set_cmd_imu_lever_arm ()

bool	set_cmd_init_parameters ()

bool	set_cmd_mag_model ()

bool	set_cmd_mag_reject_mode ()

bool	set_cmd_motion_profile ()

bool	set_cmd_odom_conf ()

bool	set_cmd_odom_lever_arm ()

bool	set_cmd_odom_reject_mode ()

bool	set_cmd_output ()

bool	start_mag_calibration ()

	~Ellipse ()

Public Attributes
bool	m_new_sbgEkfEuler

bool	m_new_sbgEkfNav

bool	m_new_sbgEkfQuat

bool	m_new_sbgEventA

bool	m_new_sbgEventB

bool	m_new_sbgEventC

bool	m_new_sbgEventD

bool	m_new_sbgGpsHdt

bool	m_new_sbgGpsPos

bool	m_new_sbgGpsRaw

bool	m_new_sbgGpsVel

bool	m_new_sbgImuData

bool	m_new_sbgMag

bool	m_new_sbgMagCalib

bool	m_new_sbgOdoVel

bool	m_new_sbgPressure

bool	m_new_sbgShipMotion

bool	m_new_sbgStatus

bool	m_new_sbgUtcTime

int	m_rate_frequency

sbg_driver::SbgEkfEuler	m_sbgEkfEuler_msg

sbg_driver::SbgEkfNav	m_sbgEkfNav_msg

sbg_driver::SbgEkfQuat	m_sbgEkfQuat_msg

sbg_driver::SbgEvent	m_sbgEventA_msg

sbg_driver::SbgEvent	m_sbgEventB_msg

sbg_driver::SbgEvent	m_sbgEventC_msg

sbg_driver::SbgEvent	m_sbgEventD_msg

sbg_driver::SbgGpsHdt	m_sbgGpsHdt_msg

sbg_driver::SbgGpsPos	m_sbgGpsPos_msg

sbg_driver::SbgGpsRaw	m_sbgGpsRaw_msg

sbg_driver::SbgGpsVel	m_sbgGpsVel_msg

sbg_driver::SbgImuData	m_sbgImuData_msg

sbg_driver::SbgMag	m_sbgMag_msg

sbg_driver::SbgMagCalib	m_sbgMagCalib_msg

sbg_driver::SbgOdoVel	m_sbgOdoVel_msg

sbg_driver::SbgPressure	m_sbgPressure_msg

sbg_driver::SbgShipMotion	m_sbgShipMotion_msg

sbg_driver::SbgStatus	m_sbgStatus_msg

sbg_driver::SbgUtcTime	m_sbgUtcTime_msg

Private Attributes
SbgEComHandle	m_comHandle

float	m_gnss1AntennaDistance

int	m_gnss1HdtRejectMode

float	m_gnss1LeverArmX

float	m_gnss1LeverArmY

float	m_gnss1LeverArmZ

int	m_gnss1ModulePortAssignment

int	m_gnss1ModuleSyncAssignment

float	m_gnss1PitchOffset

int	m_gnss1PosRejectMode

int	m_gnss1VelRejectMode

float	m_gnss1YawOffset

uint32	m_gnssModelId

int	m_imuAxisDirectionX

int	m_imuAxisDirectionY

float	m_imuLeverArm [3]

float	m_imuMisPitch

float	m_imuMisRoll

float	m_imuMisYaw

double	m_initAlt

uint8	m_initDay

double	m_initLat

double	m_initLong

uint8	m_initMonth

uint16	m_initYear

int	m_log_ekf_euler

int	m_log_ekf_nav

int	m_log_ekf_quat

int	m_log_event_a

int	m_log_event_b

int	m_log_event_c

int	m_log_event_d

int	m_log_gps1_hdt

int	m_log_gps1_pos

int	m_log_gps1_raw

int	m_log_gps1_vel

int	m_log_imu_data

int	m_log_mag

int	m_log_mag_calib

int	m_log_odo_vel

int	m_log_pressure

int	m_log_ship_motion

int	m_log_status

int	m_log_utc_time

SbgEComMagCalibResults	m_magCalibResults

float	m_magMatrix [3][3]

uint32	m_magModelId

int	m_magnetic_calibration_bandwidth

int	m_magnetic_calibration_mode

float	m_magOffset [3]

int	m_magRejectMode

uint32	m_motionProfileId

ros::NodeHandle *	m_node

bool	m_odomDirection

int	m_odometerPinAssignment

float	m_odomGain

uint8	m_odomGainError

float	m_odomLever [3]

int	m_odomRejectMode

SbgEComOutputPort	m_portOutput

int	m_rtcmPortAssignment

ros::Publisher	m_sbgEkfEuler_pub

ros::Publisher	m_sbgEkfNav_pub

ros::Publisher	m_sbgEkfQuat_pub

ros::Publisher	m_sbgEventA_pub

ros::Publisher	m_sbgEventB_pub

ros::Publisher	m_sbgEventC_pub

ros::Publisher	m_sbgEventD_pub

ros::Publisher	m_sbgGpsHdt_pub

ros::Publisher	m_sbgGpsPos_pub

ros::Publisher	m_sbgGpsRaw_pub

ros::Publisher	m_sbgGpsVel_pub

ros::Publisher	m_sbgImuData_pub

SbgInterface	m_sbgInterface

ros::Publisher	m_sbgMag_pub

ros::Publisher	m_sbgMagCalib_pub

ros::Publisher	m_sbgOdoVel_pub

ros::Publisher	m_sbgPressure_pub

ros::Publisher	m_sbgShipMotion_pub

ros::Publisher	m_sbgStatus_pub

ros::Publisher	m_sbgUtcTime_pub

uint8	m_timeReference

uint32	m_uartBaudRate

std::string	m_uartPortName

Detailed Description

Definition at line 14 of file ellipse.h.

Constructor & Destructor Documentation

Ellipse::Ellipse ( ros::NodeHandle * n )

Definition at line 29 of file ellipse.cpp.

Ellipse::~Ellipse ( )

Definition at line 34 of file ellipse.cpp.

Member Function Documentation

void Ellipse::configure ( )

Definition at line 100 of file ellipse.cpp.

void Ellipse::connect ( )

Definition at line 39 of file ellipse.cpp.

bool Ellipse::end_mag_calibration ( )

************* WARNING IF ISSUES WITH COMPUTATIONS ************* //

************* Results ************* //

************* Save matrix to a file ************* //

Definition at line 820 of file ellipse.cpp.

void Ellipse::init_callback ( )

Definition at line 54 of file ellipse.cpp.

void Ellipse::init_publishers ( )

Definition at line 59 of file ellipse.cpp.

void Ellipse::load_param ( )

Definition at line 131 of file ellipse.cpp.

void Ellipse::publish ( )

Definition at line 242 of file ellipse.cpp.

void Ellipse::save_config ( )

Definition at line 122 of file ellipse.cpp.

bool Ellipse::save_mag_calibration ( )

Definition at line 897 of file ellipse.cpp.

bool Ellipse::set_cmd_aiding_assignement ( )

Definition at line 507 of file ellipse.cpp.

bool Ellipse::set_cmd_gnss_lever_arm ( )

Definition at line 560 of file ellipse.cpp.

bool Ellipse::set_cmd_gnss_model ( )

Definition at line 549 of file ellipse.cpp.

bool Ellipse::set_cmd_gnss_reject_mode ( )

Definition at line 582 of file ellipse.cpp.

bool Ellipse::set_cmd_imu_lever_arm ( )

Definition at line 479 of file ellipse.cpp.

bool Ellipse::set_cmd_init_parameters ( )

Definition at line 446 of file ellipse.cpp.

bool Ellipse::set_cmd_mag_model ( )

Definition at line 526 of file ellipse.cpp.

bool Ellipse::set_cmd_mag_reject_mode ( )

Definition at line 537 of file ellipse.cpp.

bool Ellipse::set_cmd_motion_profile ( )

Definition at line 468 of file ellipse.cpp.

bool Ellipse::set_cmd_odom_conf ( )

Definition at line 600 of file ellipse.cpp.

bool Ellipse::set_cmd_odom_lever_arm ( )

Definition at line 618 of file ellipse.cpp.

bool Ellipse::set_cmd_odom_reject_mode ( )

Definition at line 635 of file ellipse.cpp.

bool Ellipse::set_cmd_output ( )

Definition at line 647 of file ellipse.cpp.

bool Ellipse::start_mag_calibration ( )

Definition at line 807 of file ellipse.cpp.

Member Data Documentation

SbgEComHandle Ellipse::m_comHandle

private

Definition at line 119 of file ellipse.h.

float Ellipse::m_gnss1AntennaDistance

private

Definition at line 160 of file ellipse.h.

int Ellipse::m_gnss1HdtRejectMode

private

Definition at line 164 of file ellipse.h.

float Ellipse::m_gnss1LeverArmX

private

Definition at line 155 of file ellipse.h.

float Ellipse::m_gnss1LeverArmY

private

Definition at line 156 of file ellipse.h.

float Ellipse::m_gnss1LeverArmZ

private

Definition at line 157 of file ellipse.h.

int Ellipse::m_gnss1ModulePortAssignment

private

Definition at line 143 of file ellipse.h.

int Ellipse::m_gnss1ModuleSyncAssignment

private

Definition at line 144 of file ellipse.h.

float Ellipse::m_gnss1PitchOffset

private

Definition at line 158 of file ellipse.h.

int Ellipse::m_gnss1PosRejectMode

private

Definition at line 162 of file ellipse.h.

int Ellipse::m_gnss1VelRejectMode

private

Definition at line 163 of file ellipse.h.

float Ellipse::m_gnss1YawOffset

private

Definition at line 159 of file ellipse.h.

uint32 Ellipse::m_gnssModelId

private

Definition at line 153 of file ellipse.h.

int Ellipse::m_imuAxisDirectionX

private

Definition at line 136 of file ellipse.h.

int Ellipse::m_imuAxisDirectionY

private

Definition at line 137 of file ellipse.h.

float Ellipse::m_imuLeverArm[3]

private

Definition at line 141 of file ellipse.h.

float Ellipse::m_imuMisPitch

private

Definition at line 139 of file ellipse.h.

float Ellipse::m_imuMisRoll

private

Definition at line 138 of file ellipse.h.

float Ellipse::m_imuMisYaw

private

Definition at line 140 of file ellipse.h.

double Ellipse::m_initAlt

private

Definition at line 130 of file ellipse.h.

uint8 Ellipse::m_initDay

private

Definition at line 133 of file ellipse.h.

double Ellipse::m_initLat

private

Definition at line 128 of file ellipse.h.

double Ellipse::m_initLong

private

Definition at line 129 of file ellipse.h.

uint8 Ellipse::m_initMonth

private

Definition at line 132 of file ellipse.h.

uint16 Ellipse::m_initYear

private

Definition at line 131 of file ellipse.h.

int Ellipse::m_log_ekf_euler

private

Definition at line 176 of file ellipse.h.

int Ellipse::m_log_ekf_nav

private

Definition at line 178 of file ellipse.h.

int Ellipse::m_log_ekf_quat

private

Definition at line 177 of file ellipse.h.

int Ellipse::m_log_event_a

private

Definition at line 188 of file ellipse.h.

int Ellipse::m_log_event_b

private

Definition at line 189 of file ellipse.h.

int Ellipse::m_log_event_c

private

Definition at line 190 of file ellipse.h.

int Ellipse::m_log_event_d

private

Definition at line 191 of file ellipse.h.

int Ellipse::m_log_gps1_hdt

private

Definition at line 185 of file ellipse.h.

int Ellipse::m_log_gps1_pos

private

Definition at line 184 of file ellipse.h.

int Ellipse::m_log_gps1_raw

private

Definition at line 186 of file ellipse.h.

int Ellipse::m_log_gps1_vel

private

Definition at line 183 of file ellipse.h.

int Ellipse::m_log_imu_data

private

Definition at line 175 of file ellipse.h.

int Ellipse::m_log_mag

private

Definition at line 181 of file ellipse.h.

int Ellipse::m_log_mag_calib

private

Definition at line 182 of file ellipse.h.

int Ellipse::m_log_odo_vel

private

Definition at line 187 of file ellipse.h.

int Ellipse::m_log_pressure

private

Definition at line 192 of file ellipse.h.

int Ellipse::m_log_ship_motion

private

Definition at line 179 of file ellipse.h.

int Ellipse::m_log_status

private

Definition at line 174 of file ellipse.h.

int Ellipse::m_log_utc_time

private

Definition at line 180 of file ellipse.h.

SbgEComMagCalibResults Ellipse::m_magCalibResults

private

Definition at line 196 of file ellipse.h.

float Ellipse::m_magMatrix[3][3]

private

Definition at line 151 of file ellipse.h.

uint32 Ellipse::m_magModelId

private

Definition at line 148 of file ellipse.h.

int Ellipse::m_magnetic_calibration_bandwidth

private

Definition at line 195 of file ellipse.h.

int Ellipse::m_magnetic_calibration_mode

private

Definition at line 194 of file ellipse.h.

float Ellipse::m_magOffset[3]

private

Definition at line 150 of file ellipse.h.

int Ellipse::m_magRejectMode

private

Definition at line 149 of file ellipse.h.

uint32 Ellipse::m_motionProfileId

private

Definition at line 134 of file ellipse.h.

bool Ellipse::m_new_sbgEkfEuler

Definition at line 78 of file ellipse.h.

bool Ellipse::m_new_sbgEkfNav

Definition at line 80 of file ellipse.h.

bool Ellipse::m_new_sbgEkfQuat

Definition at line 79 of file ellipse.h.

bool Ellipse::m_new_sbgEventA

Definition at line 89 of file ellipse.h.

bool Ellipse::m_new_sbgEventB

Definition at line 90 of file ellipse.h.

bool Ellipse::m_new_sbgEventC

Definition at line 91 of file ellipse.h.

bool Ellipse::m_new_sbgEventD

Definition at line 92 of file ellipse.h.

bool Ellipse::m_new_sbgGpsHdt

Definition at line 86 of file ellipse.h.

bool Ellipse::m_new_sbgGpsPos

Definition at line 85 of file ellipse.h.

bool Ellipse::m_new_sbgGpsRaw

Definition at line 87 of file ellipse.h.

bool Ellipse::m_new_sbgGpsVel

Definition at line 84 of file ellipse.h.

bool Ellipse::m_new_sbgImuData

Definition at line 77 of file ellipse.h.

bool Ellipse::m_new_sbgMag

Definition at line 82 of file ellipse.h.

bool Ellipse::m_new_sbgMagCalib

Definition at line 83 of file ellipse.h.

bool Ellipse::m_new_sbgOdoVel

Definition at line 88 of file ellipse.h.

bool Ellipse::m_new_sbgPressure

Definition at line 93 of file ellipse.h.

bool Ellipse::m_new_sbgShipMotion

Definition at line 81 of file ellipse.h.

bool Ellipse::m_new_sbgStatus

Definition at line 75 of file ellipse.h.

bool Ellipse::m_new_sbgUtcTime

Definition at line 76 of file ellipse.h.

ros::NodeHandle* Ellipse::m_node

private

Definition at line 50 of file ellipse.h.

bool Ellipse::m_odomDirection

private

Definition at line 168 of file ellipse.h.

int Ellipse::m_odometerPinAssignment

private

Definition at line 146 of file ellipse.h.

float Ellipse::m_odomGain

private

Definition at line 166 of file ellipse.h.

uint8 Ellipse::m_odomGainError

private

Definition at line 167 of file ellipse.h.

float Ellipse::m_odomLever[3]

private

Definition at line 169 of file ellipse.h.

int Ellipse::m_odomRejectMode

private

Definition at line 170 of file ellipse.h.

SbgEComOutputPort Ellipse::m_portOutput

private

Definition at line 126 of file ellipse.h.

int Ellipse::m_rate_frequency

Definition at line 95 of file ellipse.h.

int Ellipse::m_rtcmPortAssignment

private

Definition at line 145 of file ellipse.h.

sbg_driver::SbgEkfEuler Ellipse::m_sbgEkfEuler_msg

Definition at line 57 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEkfEuler_pub

private

Definition at line 101 of file ellipse.h.

sbg_driver::SbgEkfNav Ellipse::m_sbgEkfNav_msg

Definition at line 59 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEkfNav_pub

private

Definition at line 103 of file ellipse.h.

sbg_driver::SbgEkfQuat Ellipse::m_sbgEkfQuat_msg

Definition at line 58 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEkfQuat_pub

private

Definition at line 102 of file ellipse.h.

sbg_driver::SbgEvent Ellipse::m_sbgEventA_msg

Definition at line 68 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEventA_pub

private

Definition at line 112 of file ellipse.h.

sbg_driver::SbgEvent Ellipse::m_sbgEventB_msg

Definition at line 69 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEventB_pub

private

Definition at line 113 of file ellipse.h.

sbg_driver::SbgEvent Ellipse::m_sbgEventC_msg

Definition at line 70 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEventC_pub

private

Definition at line 114 of file ellipse.h.

sbg_driver::SbgEvent Ellipse::m_sbgEventD_msg

Definition at line 71 of file ellipse.h.

ros::Publisher Ellipse::m_sbgEventD_pub

private

Definition at line 115 of file ellipse.h.

sbg_driver::SbgGpsHdt Ellipse::m_sbgGpsHdt_msg

Definition at line 65 of file ellipse.h.

ros::Publisher Ellipse::m_sbgGpsHdt_pub

private

Definition at line 109 of file ellipse.h.

sbg_driver::SbgGpsPos Ellipse::m_sbgGpsPos_msg

Definition at line 64 of file ellipse.h.

ros::Publisher Ellipse::m_sbgGpsPos_pub

private

Definition at line 108 of file ellipse.h.

sbg_driver::SbgGpsRaw Ellipse::m_sbgGpsRaw_msg

Definition at line 66 of file ellipse.h.

ros::Publisher Ellipse::m_sbgGpsRaw_pub

private

Definition at line 110 of file ellipse.h.

sbg_driver::SbgGpsVel Ellipse::m_sbgGpsVel_msg

Definition at line 63 of file ellipse.h.

ros::Publisher Ellipse::m_sbgGpsVel_pub

private

Definition at line 107 of file ellipse.h.

sbg_driver::SbgImuData Ellipse::m_sbgImuData_msg

Definition at line 56 of file ellipse.h.

ros::Publisher Ellipse::m_sbgImuData_pub

private

Definition at line 100 of file ellipse.h.

SbgInterface Ellipse::m_sbgInterface

private

Definition at line 120 of file ellipse.h.

sbg_driver::SbgMag Ellipse::m_sbgMag_msg

Definition at line 61 of file ellipse.h.

ros::Publisher Ellipse::m_sbgMag_pub

private

Definition at line 105 of file ellipse.h.

sbg_driver::SbgMagCalib Ellipse::m_sbgMagCalib_msg

Definition at line 62 of file ellipse.h.

ros::Publisher Ellipse::m_sbgMagCalib_pub

private

Definition at line 106 of file ellipse.h.

sbg_driver::SbgOdoVel Ellipse::m_sbgOdoVel_msg

Definition at line 67 of file ellipse.h.

ros::Publisher Ellipse::m_sbgOdoVel_pub

private

Definition at line 111 of file ellipse.h.

sbg_driver::SbgPressure Ellipse::m_sbgPressure_msg

Definition at line 72 of file ellipse.h.

ros::Publisher Ellipse::m_sbgPressure_pub

private

Definition at line 116 of file ellipse.h.

sbg_driver::SbgShipMotion Ellipse::m_sbgShipMotion_msg

Definition at line 60 of file ellipse.h.

ros::Publisher Ellipse::m_sbgShipMotion_pub

private

Definition at line 104 of file ellipse.h.

sbg_driver::SbgStatus Ellipse::m_sbgStatus_msg

Definition at line 54 of file ellipse.h.

ros::Publisher Ellipse::m_sbgStatus_pub

private

Definition at line 98 of file ellipse.h.

sbg_driver::SbgUtcTime Ellipse::m_sbgUtcTime_msg

Definition at line 55 of file ellipse.h.

ros::Publisher Ellipse::m_sbgUtcTime_pub

private

Definition at line 99 of file ellipse.h.

uint8 Ellipse::m_timeReference

private

Definition at line 172 of file ellipse.h.

uint32 Ellipse::m_uartBaudRate

private

Definition at line 125 of file ellipse.h.

std::string Ellipse::m_uartPortName

private

Definition at line 124 of file ellipse.h.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation