imu_filter::TfHandler Class Reference

#include <tf_handler.h>

List of all members.

Public Member Functions
void	broadcastIMUFrame (const Eigen::Quaterniond &orientation, const Eigen::Vector3d &position, const ros::Time &time)
	broadcast a frame named imu_local
void	broadcastTfPose (const Eigen::Affine3d &pose, const ros::Time &t, const std::string &frame)
	function to broadcast a specific tf frame with a given pose
void	publishImuState (const ImuState &state, const ros::Time &t)
	function to broadcast a messages reflecting the current state estimate of the IMU
void	publishKFRelativePose (const Eigen::Affine3d &pose, const ros::Time &t)
	publish a pose message for the keyframe relative pose estimate
void	setBaseFrame (const std::string &frame_id)
	set the name of the tf base frame
void	setPseudoObservation (const Observation::Vector &vec, const ros::Time &time)
	broadcast a pseude observation frame
Static Public Member Functions
static TfHandler &	instance ()
	get the singleton instance
Private Member Functions
	TfHandler ()
	TfHandler (const TfHandler &)
Private Attributes
std::string	baseFrame_
tf::TransformBroadcaster	bc_
tf::Transform	imuFrame_
ros::NodeHandle	nh_
geometry_msgs::PoseStamped	poseMsg_
ros::Publisher	pubGravity_
ros::Publisher	pubGtPos_
ros::Publisher	pubGtRot_
ros::Publisher	pubImuABias_
ros::Publisher	pubImuGBias_
ros::Publisher	pubImuPos_
ros::Publisher	pubImuPose_
ros::Publisher	pubImuRot_
ros::Publisher	pubImuVel_
ros::Publisher	pubPoseRelativeToKf_
ros::Publisher	pubPseudoPos_
ros::Publisher	pubPseudoRot_
geometry_msgs::Quaternion	qMsg_
tf::TransformListener	tfIn_
tf::StampedTransform	tmpT_
geometry_msgs::Vector3	vMsg_

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Detailed Description

Definition at line 51 of file tf_handler.h.

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Constructor & Destructor Documentation

imu_filter::TfHandler::TfHandler

(

)

[inline, private]

Definition at line 181 of file tf_handler.h.

imu_filter::TfHandler::TfHandler

(

const TfHandler &

)

[private]

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Member Function Documentation

void imu_filter::TfHandler::broadcastIMUFrame	(	const Eigen::Quaterniond &	orientation,
		const Eigen::Vector3d &	position,
		const ros::Time &	time
	)		[inline]

broadcast a frame named imu_local

Parameters:

orientation	the frame orientation
position	the frame position
time	transform time

Definition at line 69 of file tf_handler.h.

void imu_filter::TfHandler::broadcastTfPose	(	const Eigen::Affine3d &	pose,
		const ros::Time &	t,
		const std::string &	frame
	)		[inline]

function to broadcast a specific tf frame with a given pose

Parameters:

pose	the pose of the frame relative to the base frame
t	the transform time
frame	the name of the frame

Definition at line 103 of file tf_handler.h.

static TfHandler& imu_filter::TfHandler::instance

(

)

[inline, static]

get the singleton instance

Definition at line 57 of file tf_handler.h.

void imu_filter::TfHandler::publishImuState	(	const ImuState &	state,
		const ros::Time &	t
	)		[inline]

function to broadcast a messages reflecting the current state estimate of the IMU

This function published messages describing the state:

• Pose message for the current IMU pose
• Quaternion message for the orientation
• Vec3 message for the position
• Vec3 message for the velocity
• Vec3 message for the gyro bias
• Vec3 message for the accelerometer bias
• Vec3 message for the gravity vector

Parameters:

state	the IMU state
t	the transform time

Definition at line 125 of file tf_handler.h.

void imu_filter::TfHandler::publishKFRelativePose	(	const Eigen::Affine3d &	pose,
		const ros::Time &	t
	)		[inline]

publish a pose message for the keyframe relative pose estimate

Definition at line 170 of file tf_handler.h.

void imu_filter::TfHandler::setBaseFrame

(

const std::string &

frame_id

)

[inline]

set the name of the tf base frame

Definition at line 165 of file tf_handler.h.

void imu_filter::TfHandler::setPseudoObservation	(	const Observation::Vector &	vec,
		const ros::Time &	time
	)		[inline]

broadcast a pseude observation frame

Parameters:

vec	the observation which will be conerted into a pose
time	the transform time

Definition at line 81 of file tf_handler.h.

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Member Data Documentation

std::string imu_filter::TfHandler::baseFrame_ [private]

Definition at line 201 of file tf_handler.h.

tf::TransformBroadcaster imu_filter::TfHandler::bc_ [private]

Definition at line 202 of file tf_handler.h.

tf::Transform imu_filter::TfHandler::imuFrame_ [private]

Definition at line 204 of file tf_handler.h.

ros::NodeHandle imu_filter::TfHandler::nh_ [private]

Definition at line 179 of file tf_handler.h.

geometry_msgs::PoseStamped imu_filter::TfHandler::poseMsg_ [private]

Definition at line 222 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubGravity_ [private]

Definition at line 217 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubGtPos_ [private]

Definition at line 210 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubGtRot_ [private]

Definition at line 209 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuABias_ [private]

Definition at line 216 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuGBias_ [private]

Definition at line 215 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuPos_ [private]

Definition at line 213 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuPose_ [private]

Definition at line 211 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuRot_ [private]

Definition at line 212 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubImuVel_ [private]

Definition at line 214 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubPoseRelativeToKf_ [private]

Definition at line 218 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubPseudoPos_ [private]

Definition at line 208 of file tf_handler.h.

ros::Publisher imu_filter::TfHandler::pubPseudoRot_ [private]

Definition at line 207 of file tf_handler.h.

geometry_msgs::Quaternion imu_filter::TfHandler::qMsg_ [private]

Definition at line 220 of file tf_handler.h.

tf::TransformListener imu_filter::TfHandler::tfIn_ [private]

Definition at line 203 of file tf_handler.h.

tf::StampedTransform imu_filter::TfHandler::tmpT_ [private]

Definition at line 205 of file tf_handler.h.

geometry_msgs::Vector3 imu_filter::TfHandler::vMsg_ [private]

Definition at line 221 of file tf_handler.h.

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

• tf_handler.h