telekyb_state::ViconImuStateEstimator Class Reference

#include <ViconImuStateEstimator.hpp>

Inheritance diagram for telekyb_state::ViconImuStateEstimator:

List of all members.

Public Member Functions
virtual void	destroy ()
virtual std::string	getName () const
virtual void	initialize ()
virtual void	willBecomeActive ()
virtual void	willBecomeInActive ()
Protected Member Functions
void	imuCallback (const sensor_msgs::Imu::ConstPtr &msg)
void	initVelocityFilters ()
void	publishState ()
void	spin ()
void	ssxCallback (const telekyb_msgs::TKState::ConstPtr &stateMsg)
void	viconCallback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
Protected Attributes
Velocity3D	angVelocityNED
boost::mutex	imuMutex
ros::Subscriber	imuSub
telekyb::Time	intTime
telekyb::Timer	intTimer
ros::NodeHandle	nodeHandle
ViconImuStateEstimatorOptions	options
Position3D	posNED
Quaternion	quatNED
telekyb::Timer	rtTimer
IIRFilter *	smoothVelFilter [3]
Velocity3D	smoothVelNED
ros::Publisher	smoothVelPub
bool	spinning
boost::thread	thread
boost::mutex	timeMutex
IIRFilter *	velFilter [3]
Velocity3D	velNED
boost::mutex	viconMutex
ros::Subscriber	viconSub

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Detailed Description

Definition at line 60 of file ViconImuStateEstimator.hpp.

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Member Function Documentation

void telekyb_state::ViconImuStateEstimator::destroy

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 138 of file ViconImuStateEstimator.cpp.

std::string telekyb_state::ViconImuStateEstimator::getName

(

)

const [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 149 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::imuCallback

(

const sensor_msgs::Imu::ConstPtr &

msg

)

[protected]

Definition at line 237 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::initialize

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 83 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::initVelocityFilters

(

)

[protected]

Definition at line 63 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::publishState

(

)

[protected]

Definition at line 181 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::spin

(

)

[protected]

Definition at line 94 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::ssxCallback

(

const telekyb_msgs::TKState::ConstPtr &

stateMsg

)

[protected]

void telekyb_state::ViconImuStateEstimator::viconCallback

(

const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &

msg

)

[protected]

Definition at line 154 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::willBecomeActive

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 110 of file ViconImuStateEstimator.cpp.

void telekyb_state::ViconImuStateEstimator::willBecomeInActive

(

)

[virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 128 of file ViconImuStateEstimator.cpp.

---

Member Data Documentation

Velocity3D telekyb_state::ViconImuStateEstimator::angVelocityNED [protected]

Definition at line 78 of file ViconImuStateEstimator.hpp.

boost::mutex telekyb_state::ViconImuStateEstimator::imuMutex [protected]

Definition at line 89 of file ViconImuStateEstimator.hpp.

ros::Subscriber telekyb_state::ViconImuStateEstimator::imuSub [protected]

Definition at line 66 of file ViconImuStateEstimator.hpp.

telekyb::Time telekyb_state::ViconImuStateEstimator::intTime [protected]

Definition at line 83 of file ViconImuStateEstimator.hpp.

telekyb::Timer telekyb_state::ViconImuStateEstimator::intTimer [protected]

Definition at line 84 of file ViconImuStateEstimator.hpp.

ros::NodeHandle telekyb_state::ViconImuStateEstimator::nodeHandle [protected]

Definition at line 64 of file ViconImuStateEstimator.hpp.

ViconImuStateEstimatorOptions telekyb_state::ViconImuStateEstimator::options [protected]

Definition at line 62 of file ViconImuStateEstimator.hpp.

Position3D telekyb_state::ViconImuStateEstimator::posNED [protected]

Definition at line 80 of file ViconImuStateEstimator.hpp.

Quaternion telekyb_state::ViconImuStateEstimator::quatNED [protected]

Definition at line 79 of file ViconImuStateEstimator.hpp.

telekyb::Timer telekyb_state::ViconImuStateEstimator::rtTimer [protected]

Definition at line 92 of file ViconImuStateEstimator.hpp.

IIRFilter* telekyb_state::ViconImuStateEstimator::smoothVelFilter[3] [protected]

Definition at line 76 of file ViconImuStateEstimator.hpp.

Velocity3D telekyb_state::ViconImuStateEstimator::smoothVelNED [protected]

Definition at line 82 of file ViconImuStateEstimator.hpp.

ros::Publisher telekyb_state::ViconImuStateEstimator::smoothVelPub [protected]

Definition at line 67 of file ViconImuStateEstimator.hpp.

bool telekyb_state::ViconImuStateEstimator::spinning [protected]

Definition at line 95 of file ViconImuStateEstimator.hpp.

boost::thread telekyb_state::ViconImuStateEstimator::thread [protected]

Definition at line 87 of file ViconImuStateEstimator.hpp.

boost::mutex telekyb_state::ViconImuStateEstimator::timeMutex [protected]

Definition at line 91 of file ViconImuStateEstimator.hpp.

IIRFilter* telekyb_state::ViconImuStateEstimator::velFilter[3] [protected]

Definition at line 75 of file ViconImuStateEstimator.hpp.

Velocity3D telekyb_state::ViconImuStateEstimator::velNED [protected]

Definition at line 81 of file ViconImuStateEstimator.hpp.

boost::mutex telekyb_state::ViconImuStateEstimator::viconMutex [protected]

Definition at line 90 of file ViconImuStateEstimator.hpp.

ros::Subscriber telekyb_state::ViconImuStateEstimator::viconSub [protected]

Definition at line 65 of file ViconImuStateEstimator.hpp.

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

• ViconImuStateEstimator.hpp
• ViconImuStateEstimator.cpp