IRI ROS Specific Algorithm Class. More...

#include <kinton_odom_alg_node.h>

Inheritance diagram for KintonOdomAlgNode:

Public Member Functions
	KintonOdomAlgNode (void)
	Constructor.
	KintonOdomAlgNode (void)
	Constructor.
	~KintonOdomAlgNode (void)
	Destructor.
	~KintonOdomAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeDiagnostics (void)
	node add diagnostics
Eigen::Matrix4d	getTransform (const tf::StampedTransform &transform)
	Get transform matrix.
Eigen::Matrix4d	getTransform (const tf::StampedTransform &transform)
	Get transform matrix.
void	ini_zeros ()
	initialization
void	mainNodeThread (void)
	main node thread
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Protected Attributes
tf::TransformBroadcaster	odom_broadcaster_
Private Member Functions
void	height_callback (const mav_msgs::Height::ConstPtr &msg)
void	height_point_callback (const geometry_msgs::PointStamped::ConstPtr &msg)
void	imu_callback (const sensor_msgs::Imu::ConstPtr &msg)
void	imu_callback (const sensor_msgs::Imu::ConstPtr &msg)
Private Attributes
Eigen::MatrixXd	acc_lin_imu_
std::string	base_link_id_
ros::Time	current_time_
double	height_
double	height_init_
geometry_msgs::PointStamped	Height_msg_
CMutex	height_mutex_
CMutex	height_point_mutex_
ros::Subscriber	height_point_subscriber_
ros::Publisher	height_publisher_
ros::Subscriber	height_subscriber_
sensor_msgs::Imu	Imu_msg_
CMutex	imu_mutex_
ros::Publisher	imu_publisher_
ros::Subscriber	imu_subscriber_
bool	init_
ros::Time	last_time_
std::string	odom_id_
ros::Publisher	odom_publisher_
nav_msgs::Odometry	Odometry_msg_
Eigen::MatrixXd	pos_ang_imu_
Eigen::MatrixXd	pos_ang_odom_
Eigen::MatrixXd	pos_lin_odom_
geometry_msgs::PoseWithCovariance	pose_
bool	publish_tf_
Eigen::Matrix3d	Rquad_
Eigen::Matrix4d	T_acc_
Eigen::Matrix4d	T_comp_
Eigen::Matrix4d	T_gyr_
std::string	tf_prefix_
geometry_msgs::Transform	transform_
geometry_msgs::TwistWithCovariance	twist_
Eigen::MatrixXd	vel_ang_imu_
Eigen::MatrixXd	vel_lin_odom_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 53 of file kinton_odom_alg_node.h.

Constructor & Destructor Documentation

KintonOdomAlgNode::KintonOdomAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file kinton_odom_alg_node.cpp.

KintonOdomAlgNode::~KintonOdomAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 77 of file kinton_odom_alg_node.cpp.

KintonOdomAlgNode::KintonOdomAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

KintonOdomAlgNode::~KintonOdomAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Member Function Documentation

void KintonOdomAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

void KintonOdomAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

Definition at line 366 of file kinton_odom_alg_node.cpp.

Eigen::Matrix4d KintonOdomAlgNode::getTransform ( const tf::StampedTransform & transform ) [protected]

Get transform matrix.

From TransformStamped to Eigen 4x4

Eigen::Matrix4d KintonOdomAlgNode::getTransform ( const tf::StampedTransform & transform ) [protected]

Get transform matrix.

From TransformStamped to Eigen 4x4

Definition at line 335 of file kinton_odom_alg_node.cpp.

void KintonOdomAlgNode::height_callback ( const mav_msgs::Height::ConstPtr & msg ) [private]

Definition at line 145 of file kinton_std_msgs_node.cpp.

void KintonOdomAlgNode::height_point_callback ( const geometry_msgs::PointStamped::ConstPtr & msg ) [private]

Definition at line 279 of file kinton_odom_alg_node.cpp.

void KintonOdomAlgNode::imu_callback ( const sensor_msgs::Imu::ConstPtr & msg ) [private]

Definition at line 196 of file kinton_odom_alg_node.cpp.

void KintonOdomAlgNode::ini_zeros ( ) [protected]

initialization

Initialize class vars to zero

Definition at line 306 of file kinton_odom_alg_node.cpp.

void KintonOdomAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

void KintonOdomAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

Definition at line 82 of file kinton_odom_alg_node.cpp.

void KintonOdomAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

void KintonOdomAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< KintonOdomAlgorithm >.

Definition at line 359 of file kinton_odom_alg_node.cpp.