#include <Estimator3D.hpp>

Public Member Functions
	Estimator3D ()
	Estimator3D ()
void	onInit ()
void	onInit ()
void	start ()
void	start ()
Private Types
enum	{ X = 0, Y, Z, K, M, N, DoF }
enum	{ X = 0, Y, Z, K, M, N, DoF }
typedef labust::navigation::KFCore < labust::navigation::LDTravModel >	KFNav
typedef labust::navigation::KFCore < labust::navigation::LDTravModel >	KFNav
Private Member Functions
void	configureNav (KFNav &nav, ros::NodeHandle &nh)
void	configureNav (KFNav &nav, ros::NodeHandle &nh)
void	onAltitude (const std_msgs::Float32::ConstPtr &data)
void	onAltitude (const std_msgs::Float32::ConstPtr &data)
void	onDepth (const std_msgs::Float32::ConstPtr &data)
void	onDepth (const std_msgs::Float32::ConstPtr &data)
void	onModelUpdate (const navcon_msgs::ModelParamsUpdate::ConstPtr &update)
void	onModelUpdate (const navcon_msgs::ModelParamsUpdate::ConstPtr &update)
void	onTau (const auv_msgs::BodyForceReq::ConstPtr &tau)
void	onTau (const auv_msgs::BodyForceReq::ConstPtr &tau)
void	processMeasurements ()
void	processMeasurements ()
void	publishState ()
void	publishState ()
Private Attributes
double	alt
ros::Subscriber	altitude
tf::TransformBroadcaster	broadcaster
ros::Publisher	currentsHat
ros::Subscriber	depth
DvlHandler	dvl
int	dvl_model
GPSHandler	gps
ImuHandler	imu
KFNav::vector	measurements
ros::Subscriber	modelUpdate
KFNav	nav
KFNav::vector	newMeas
KFNav::ModelParams	params [DoF]
ros::Publisher	stateHat
ros::Publisher	stateMeas
ros::Subscriber	tauAch
KFNav::vector	tauIn
labust::math::unwrap	unwrap
bool	useYawRate

Detailed Description

The 3D state estimator for ROVs and AUVs.

Todo:: Extract the lat/lon part into the llnode.

The 3D state estimator for ROVs and AUVs. Extended with altitude and pitch estimates.

Todo:: Extract the lat/lon part into the llnode.

Definition at line 56 of file Estimator3D.hpp.

Member Typedef Documentation

typedef labust::navigation::KFCore<labust::navigation::LDTravModel> labust::navigation::Estimator3D::KFNav [private]

Definition at line 59 of file Estimator3D.hpp.

typedef labust::navigation::KFCore<labust::navigation::LDTravModel> labust::navigation::Estimator3D::KFNav [private]

Definition at line 59 of file Estimator3DExtended.hpp.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

X
Y
Z
K
M
N
DoF

Definition at line 58 of file Estimator3D.hpp.

anonymous enum [private]

Enumerator:

X
Y
Z
K
M
N
DoF

Definition at line 58 of file Estimator3DExtended.hpp.

Constructor & Destructor Documentation

Estimator3D::Estimator3D ( )

Main constructor.

Definition at line 58 of file Estimator3D.cpp.

labust::navigation::Estimator3D::Estimator3D ( )

Main constructor.

Member Function Documentation

void Estimator3D::configureNav	(	KFNav &	nav,
		ros::NodeHandle &	nh
	)		`[private]`

Helper function for navigation configuration.

Definition at line 92 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::configureNav	(	KFNav &	nav,
		ros::NodeHandle &	nh
	)		`[private]`

Helper function for navigation configuration.

void labust::navigation::Estimator3D::onAltitude ( const std_msgs::Float32::ConstPtr & data ) [private]

Handle the altitude measurement.

void Estimator3D::onAltitude ( const std_msgs::Float32::ConstPtr & data ) [private]

Handle the altitude measurement.

Definition at line 156 of file Estimator3D.cpp.

void Estimator3D::onDepth ( const std_msgs::Float32::ConstPtr & data ) [private]

Handle the depth measurement.

Definition at line 150 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::onDepth ( const std_msgs::Float32::ConstPtr & data ) [private]

Handle the depth measurement.

void labust::navigation::Estimator3D::onInit ( )

Initialize the estimation filter.

void Estimator3D::onInit ( )

Initialize the estimation filter.

Definition at line 66 of file Estimator3D.cpp.

void Estimator3D::onModelUpdate ( const navcon_msgs::ModelParamsUpdate::ConstPtr & update ) [private]

On model updates.

Definition at line 124 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::onModelUpdate ( const navcon_msgs::ModelParamsUpdate::ConstPtr & update ) [private]

On model updates.

void Estimator3D::onTau ( const auv_msgs::BodyForceReq::ConstPtr & tau ) [private]

Handle input forces and torques.

Definition at line 142 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::onTau ( const auv_msgs::BodyForceReq::ConstPtr & tau ) [private]

Handle input forces and torques.

void labust::navigation::Estimator3D::processMeasurements ( ) [private]

Helper method to process measurements.

void Estimator3D::processMeasurements ( ) [private]

Helper method to process measurements.

Definition at line 163 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::publishState ( ) [private]

Helper method to publish the navigation state.

void Estimator3D::publishState ( ) [private]

Helper method to publish the navigation state.

Definition at line 253 of file Estimator3D.cpp.

void Estimator3D::start ( )

Start the estimation loop.

Definition at line 302 of file Estimator3D.cpp.

void labust::navigation::Estimator3D::start ( )

Start the estimation loop.

Member Data Documentation

double labust::navigation::Estimator3D::alt [private]

Temporary altitude storage.

Definition at line 148 of file Estimator3D.hpp.

ros::Subscriber labust::navigation::Estimator3D::altitude [private]

Definition at line 128 of file Estimator3D.hpp.

tf::TransformBroadcaster labust::navigation::Estimator3D::broadcaster [private]

The transform broadcaster.

Definition at line 144 of file Estimator3D.hpp.

ros::Publisher labust::navigation::Estimator3D::currentsHat [private]

Definition at line 124 of file Estimator3D.hpp.

ros::Subscriber labust::navigation::Estimator3D::depth [private]

Definition at line 128 of file Estimator3D.hpp.

DvlHandler labust::navigation::Estimator3D::dvl [private]

The DVL handler.

Definition at line 140 of file Estimator3D.hpp.

int labust::navigation::Estimator3D::dvl_model [private]

The DVL model selector.

Definition at line 160 of file Estimator3D.hpp.

GPSHandler labust::navigation::Estimator3D::gps [private]

The GPS handler.

Definition at line 132 of file Estimator3D.hpp.

ImuHandler labust::navigation::Estimator3D::imu [private]

The Imu handler.

Definition at line 136 of file Estimator3D.hpp.

KFNav::vector labust::navigation::Estimator3D::measurements [private]

The measurements vector and arrived flag vector.

Definition at line 116 of file Estimator3D.hpp.

ros::Subscriber labust::navigation::Estimator3D::modelUpdate [private]

Definition at line 128 of file Estimator3D.hpp.

KFNav labust::navigation::Estimator3D::nav [private]

The navigation filter.

Definition at line 108 of file Estimator3D.hpp.

KFNav::vector labust::navigation::Estimator3D::newMeas [private]

Definition at line 116 of file Estimator3D.hpp.

KFNav::ModelParams labust::navigation::Estimator3D::params [private]

Model parameters

Definition at line 152 of file Estimator3D.hpp.

ros::Publisher labust::navigation::Estimator3D::stateHat [private]

Definition at line 124 of file Estimator3D.hpp.

ros::Publisher labust::navigation::Estimator3D::stateMeas [private]

Estimated and measured state publisher.

Definition at line 124 of file Estimator3D.hpp.

ros::Subscriber labust::navigation::Estimator3D::tauAch [private]

Sensors and input subscribers.

Definition at line 128 of file Estimator3D.hpp.

KFNav::vector labust::navigation::Estimator3D::tauIn [private]

The input vector.

Definition at line 112 of file Estimator3D.hpp.

labust::math::unwrap labust::navigation::Estimator3D::unwrap [private]

Heading unwrapper.

Definition at line 120 of file Estimator3D.hpp.

bool labust::navigation::Estimator3D::useYawRate [private]

The flag to indicate existing yaw-rate measurements.

Definition at line 156 of file Estimator3D.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation