#include <odom_estimation_node.h>

Public Member Functions
	OdomEstimationNode ()
	constructor More...

virtual	~OdomEstimationNode ()
	destructor More...

Private Member Functions
bool	getStatus (robot_pose_ekf::GetStatus::Request &req, robot_pose_ekf::GetStatus::Response &resp)
	get the status of the filter More...

void	gpsCallback (const GpsConstPtr &gps)
	callback function for vo data More...

void	imuCallback (const ImuConstPtr &imu)
	callback function for imu data More...

void	odomCallback (const OdomConstPtr &odom)
	callback function for odo data More...

void	spin (const ros::TimerEvent &e)
	the mail filter loop that will be called periodically More...

void	voCallback (const VoConstPtr &vo)
	callback function for vo data More...

Private Attributes
std::string	base_footprint_frame_

tf::Transform	base_gps_init_

tf::Transform	base_vo_init_

tf::StampedTransform	camera_base_

std::ofstream	corr_file_

bool	debug_

unsigned int	ekf_sent_counter_

std::ofstream	extra_file_

ros::Time	filter_stamp_

bool	gps_active_

unsigned int	gps_callback_counter_

MatrixWrapper::SymmetricMatrix	gps_covariance_

std::ofstream	gps_file_

ros::Time	gps_init_stamp_

bool	gps_initializing_

tf::Transform	gps_meas_

ros::Time	gps_stamp_

ros::Subscriber	gps_sub_

ros::Time	gps_time_

bool	gps_used_

bool	imu_active_

unsigned int	imu_callback_counter_

MatrixWrapper::SymmetricMatrix	imu_covariance_

std::ofstream	imu_file_

ros::Time	imu_init_stamp_

bool	imu_initializing_

tf::Transform	imu_meas_

ros::Time	imu_stamp_

ros::Subscriber	imu_sub_

ros::Time	imu_time_

bool	imu_used_

OdomEstimation	my_filter_

ros::NodeHandle	node_

bool	odom_active_

tf::TransformBroadcaster	odom_broadcaster_

unsigned int	odom_callback_counter_

MatrixWrapper::SymmetricMatrix	odom_covariance_

std::ofstream	odom_file_

ros::Time	odom_init_stamp_

bool	odom_initializing_

tf::Transform	odom_meas_

ros::Time	odom_stamp_

ros::Subscriber	odom_sub_

ros::Time	odom_time_

bool	odom_used_

geometry_msgs::PoseWithCovarianceStamped	output_

std::string	output_frame_

ros::Publisher	pose_pub_

tf::TransformListener	robot_state_

bool	self_diagnose_

ros::ServiceServer	state_srv_

std::string	tf_prefix_

std::ofstream	time_file_

double	timeout_

ros::Timer	timer_

bool	vo_active_

unsigned int	vo_callback_counter_

MatrixWrapper::SymmetricMatrix	vo_covariance_

std::ofstream	vo_file_

ros::Time	vo_init_stamp_

bool	vo_initializing_

tf::Transform	vo_meas_

ros::Time	vo_stamp_

ros::Subscriber	vo_sub_

ros::Time	vo_time_

bool	vo_used_

Detailed Description

Definition at line 77 of file odom_estimation_node.h.

Constructor & Destructor Documentation

◆ OdomEstimationNode()

estimation::OdomEstimationNode::OdomEstimationNode ( )

constructor

Definition at line 54 of file odom_estimation_node.cpp.

◆ ~OdomEstimationNode()

estimation::OdomEstimationNode::~OdomEstimationNode ( )

virtual

destructor

Definition at line 156 of file odom_estimation_node.cpp.

Member Function Documentation

◆ getStatus()

bool estimation::OdomEstimationNode::getStatus	(	robot_pose_ekf::GetStatus::Request &	req,
		robot_pose_ekf::GetStatus::Response &	resp
	)

private

get the status of the filter

Definition at line 494 of file odom_estimation_node.cpp.

◆ gpsCallback()

void estimation::OdomEstimationNode::gpsCallback ( const GpsConstPtr & gps )

private

callback function for vo data

Definition at line 332 of file odom_estimation_node.cpp.

◆ imuCallback()

void estimation::OdomEstimationNode::imuCallback ( const ImuConstPtr & imu )

private

callback function for imu data

Definition at line 220 of file odom_estimation_node.cpp.

◆ odomCallback()

void estimation::OdomEstimationNode::odomCallback ( const OdomConstPtr & odom )

private

callback function for odo data

Definition at line 173 of file odom_estimation_node.cpp.

◆ spin()

void estimation::OdomEstimationNode::spin ( const ros::TimerEvent & e )

private

the mail filter loop that will be called periodically

Definition at line 380 of file odom_estimation_node.cpp.

◆ voCallback()

void estimation::OdomEstimationNode::voCallback ( const VoConstPtr & vo )

private

callback function for vo data

Definition at line 291 of file odom_estimation_node.cpp.

Member Data Documentation

◆ base_footprint_frame_

std::string estimation::OdomEstimationNode::base_footprint_frame_

private

Definition at line 136 of file odom_estimation_node.h.

◆ base_gps_init_

tf::Transform estimation::OdomEstimationNode::base_gps_init_

private

Definition at line 125 of file odom_estimation_node.h.

◆ base_vo_init_

tf::Transform estimation::OdomEstimationNode::base_vo_init_

private

Definition at line 124 of file odom_estimation_node.h.

◆ camera_base_

tf::StampedTransform estimation::OdomEstimationNode::camera_base_

private

Definition at line 126 of file odom_estimation_node.h.

◆ corr_file_

std::ofstream estimation::OdomEstimationNode::corr_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ debug_

bool estimation::OdomEstimationNode::debug_

private

Definition at line 135 of file odom_estimation_node.h.

◆ ekf_sent_counter_

unsigned int estimation::OdomEstimationNode::ekf_sent_counter_

private

Definition at line 142 of file odom_estimation_node.h.

◆ extra_file_

std::ofstream estimation::OdomEstimationNode::extra_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ filter_stamp_

ros::Time estimation::OdomEstimationNode::filter_stamp_

private

Definition at line 128 of file odom_estimation_node.h.

◆ gps_active_

bool estimation::OdomEstimationNode::gps_active_

private

Definition at line 130 of file odom_estimation_node.h.

◆ gps_callback_counter_

unsigned int estimation::OdomEstimationNode::gps_callback_counter_

private

Definition at line 142 of file odom_estimation_node.h.

◆ gps_covariance_

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::gps_covariance_

private

Definition at line 134 of file odom_estimation_node.h.

◆ gps_file_

std::ofstream estimation::OdomEstimationNode::gps_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ gps_init_stamp_

ros::Time estimation::OdomEstimationNode::gps_init_stamp_

private

Definition at line 129 of file odom_estimation_node.h.

◆ gps_initializing_

bool estimation::OdomEstimationNode::gps_initializing_

private

Definition at line 132 of file odom_estimation_node.h.

◆ gps_meas_

tf::Transform estimation::OdomEstimationNode::gps_meas_

private

Definition at line 123 of file odom_estimation_node.h.

◆ gps_stamp_

ros::Time estimation::OdomEstimationNode::gps_stamp_

private

Definition at line 128 of file odom_estimation_node.h.

◆ gps_sub_

ros::Subscriber estimation::OdomEstimationNode::gps_sub_

private

Definition at line 109 of file odom_estimation_node.h.

◆ gps_time_

ros::Time estimation::OdomEstimationNode::gps_time_

private

Definition at line 127 of file odom_estimation_node.h.

◆ gps_used_

bool estimation::OdomEstimationNode::gps_used_

private

Definition at line 131 of file odom_estimation_node.h.

◆ imu_active_

bool estimation::OdomEstimationNode::imu_active_

private

Definition at line 130 of file odom_estimation_node.h.

◆ imu_callback_counter_

unsigned int estimation::OdomEstimationNode::imu_callback_counter_

private

Definition at line 142 of file odom_estimation_node.h.

◆ imu_covariance_

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::imu_covariance_

private

Definition at line 134 of file odom_estimation_node.h.

◆ imu_file_

std::ofstream estimation::OdomEstimationNode::imu_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ imu_init_stamp_

ros::Time estimation::OdomEstimationNode::imu_init_stamp_

private

Definition at line 129 of file odom_estimation_node.h.

◆ imu_initializing_

bool estimation::OdomEstimationNode::imu_initializing_

private

Definition at line 132 of file odom_estimation_node.h.

◆ imu_meas_

tf::Transform estimation::OdomEstimationNode::imu_meas_

private

Definition at line 123 of file odom_estimation_node.h.

◆ imu_stamp_

ros::Time estimation::OdomEstimationNode::imu_stamp_

private

Definition at line 128 of file odom_estimation_node.h.

◆ imu_sub_

ros::Subscriber estimation::OdomEstimationNode::imu_sub_

private

Definition at line 109 of file odom_estimation_node.h.

◆ imu_time_

ros::Time estimation::OdomEstimationNode::imu_time_

private

Definition at line 127 of file odom_estimation_node.h.

◆ imu_used_

bool estimation::OdomEstimationNode::imu_used_

private

Definition at line 131 of file odom_estimation_node.h.

◆ my_filter_

OdomEstimation estimation::OdomEstimationNode::my_filter_

private

Definition at line 113 of file odom_estimation_node.h.

◆ node_

ros::NodeHandle estimation::OdomEstimationNode::node_

private

Definition at line 106 of file odom_estimation_node.h.

◆ odom_active_

bool estimation::OdomEstimationNode::odom_active_

private

Definition at line 130 of file odom_estimation_node.h.

◆ odom_broadcaster_

tf::TransformBroadcaster estimation::OdomEstimationNode::odom_broadcaster_

private

Definition at line 120 of file odom_estimation_node.h.

◆ odom_callback_counter_

unsigned int estimation::OdomEstimationNode::odom_callback_counter_

private

Definition at line 142 of file odom_estimation_node.h.

◆ odom_covariance_

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::odom_covariance_

private

Definition at line 134 of file odom_estimation_node.h.

◆ odom_file_

std::ofstream estimation::OdomEstimationNode::odom_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ odom_init_stamp_

ros::Time estimation::OdomEstimationNode::odom_init_stamp_

private

Definition at line 129 of file odom_estimation_node.h.

◆ odom_initializing_

bool estimation::OdomEstimationNode::odom_initializing_

private

Definition at line 132 of file odom_estimation_node.h.

◆ odom_meas_

tf::Transform estimation::OdomEstimationNode::odom_meas_

private

Definition at line 123 of file odom_estimation_node.h.

◆ odom_stamp_

ros::Time estimation::OdomEstimationNode::odom_stamp_

private

Definition at line 128 of file odom_estimation_node.h.

◆ odom_sub_

ros::Subscriber estimation::OdomEstimationNode::odom_sub_

private

Definition at line 109 of file odom_estimation_node.h.

◆ odom_time_

ros::Time estimation::OdomEstimationNode::odom_time_

private

Definition at line 127 of file odom_estimation_node.h.

◆ odom_used_

bool estimation::OdomEstimationNode::odom_used_

private

Definition at line 131 of file odom_estimation_node.h.

◆ output_

geometry_msgs::PoseWithCovarianceStamped estimation::OdomEstimationNode::output_

private

Definition at line 116 of file odom_estimation_node.h.

◆ output_frame_

std::string estimation::OdomEstimationNode::output_frame_

private

Definition at line 136 of file odom_estimation_node.h.

◆ pose_pub_

ros::Publisher estimation::OdomEstimationNode::pose_pub_

private

Definition at line 108 of file odom_estimation_node.h.

◆ robot_state_

tf::TransformListener estimation::OdomEstimationNode::robot_state_

private

Definition at line 119 of file odom_estimation_node.h.

◆ self_diagnose_

bool estimation::OdomEstimationNode::self_diagnose_

private

Definition at line 135 of file odom_estimation_node.h.

◆ state_srv_

ros::ServiceServer estimation::OdomEstimationNode::state_srv_

private

Definition at line 110 of file odom_estimation_node.h.

◆ tf_prefix_

std::string estimation::OdomEstimationNode::tf_prefix_

private

Definition at line 136 of file odom_estimation_node.h.

◆ time_file_

std::ofstream estimation::OdomEstimationNode::time_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ timeout_

double estimation::OdomEstimationNode::timeout_

private

Definition at line 133 of file odom_estimation_node.h.

◆ timer_

ros::Timer estimation::OdomEstimationNode::timer_

private

Definition at line 107 of file odom_estimation_node.h.

◆ vo_active_

bool estimation::OdomEstimationNode::vo_active_

private

Definition at line 130 of file odom_estimation_node.h.

◆ vo_callback_counter_

unsigned int estimation::OdomEstimationNode::vo_callback_counter_

private

Definition at line 142 of file odom_estimation_node.h.

◆ vo_covariance_

MatrixWrapper::SymmetricMatrix estimation::OdomEstimationNode::vo_covariance_

private

Definition at line 134 of file odom_estimation_node.h.

◆ vo_file_

std::ofstream estimation::OdomEstimationNode::vo_file_

private

Definition at line 139 of file odom_estimation_node.h.

◆ vo_init_stamp_

ros::Time estimation::OdomEstimationNode::vo_init_stamp_

private

Definition at line 129 of file odom_estimation_node.h.

◆ vo_initializing_

bool estimation::OdomEstimationNode::vo_initializing_

private

Definition at line 132 of file odom_estimation_node.h.

◆ vo_meas_

tf::Transform estimation::OdomEstimationNode::vo_meas_

private

Definition at line 123 of file odom_estimation_node.h.

◆ vo_stamp_

ros::Time estimation::OdomEstimationNode::vo_stamp_

private

Definition at line 128 of file odom_estimation_node.h.

◆ vo_sub_

ros::Subscriber estimation::OdomEstimationNode::vo_sub_

private

Definition at line 109 of file odom_estimation_node.h.

◆ vo_time_

ros::Time estimation::OdomEstimationNode::vo_time_

private

Definition at line 127 of file odom_estimation_node.h.

◆ vo_used_

bool estimation::OdomEstimationNode::vo_used_

private

Definition at line 131 of file odom_estimation_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OdomEstimationNode()

◆ ~OdomEstimationNode()

Member Function Documentation

◆ getStatus()

◆ gpsCallback()

◆ imuCallback()

◆ odomCallback()

◆ spin()

◆ voCallback()

Member Data Documentation

◆ base_footprint_frame_

◆ base_gps_init_

◆ base_vo_init_

◆ camera_base_

◆ corr_file_

◆ debug_

◆ ekf_sent_counter_

◆ extra_file_

◆ filter_stamp_

◆ gps_active_

◆ gps_callback_counter_

◆ gps_covariance_

◆ gps_file_

◆ gps_init_stamp_

◆ gps_initializing_

◆ gps_meas_

◆ gps_stamp_

◆ gps_sub_

◆ gps_time_

◆ gps_used_

◆ imu_active_

◆ imu_callback_counter_

◆ imu_covariance_

◆ imu_file_

◆ imu_init_stamp_

◆ imu_initializing_

◆ imu_meas_

◆ imu_stamp_

◆ imu_sub_

◆ imu_time_

◆ imu_used_

◆ my_filter_

◆ node_

◆ odom_active_

◆ odom_broadcaster_

◆ odom_callback_counter_

◆ odom_covariance_

◆ odom_file_

◆ odom_init_stamp_

◆ odom_initializing_

◆ odom_meas_

◆ odom_stamp_

◆ odom_sub_

◆ odom_time_

◆ odom_used_

◆ output_

◆ output_frame_

◆ pose_pub_

◆ robot_state_

◆ self_diagnose_

◆ state_srv_

◆ tf_prefix_

◆ time_file_

◆ timeout_

◆ timer_

◆ vo_active_

◆ vo_callback_counter_

◆ vo_covariance_

◆ vo_file_

◆ vo_init_stamp_

◆ vo_initializing_

◆ vo_meas_

◆ vo_stamp_

◆ vo_sub_

◆ vo_time_